CN109217763A - PMSM vector control without position sensor system and method - Google Patents
PMSM vector control without position sensor system and method Download PDFInfo
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- CN109217763A CN109217763A CN201710543820.9A CN201710543820A CN109217763A CN 109217763 A CN109217763 A CN 109217763A CN 201710543820 A CN201710543820 A CN 201710543820A CN 109217763 A CN109217763 A CN 109217763A
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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
- H02P21/28—Stator flux based 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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Abstract
The invention discloses a kind of PMSM vector control without position sensor system and method, system includes Clark conversion module, Park conversion module, Park inverse transform module, Pulse width modulation module, inverter module, sliding mode observer, first comparator, the second comparator, third comparator, speed regulator and current regulator.The present invention detects the Position And Velocity of PMSM using sliding mode observer substitution tradition machinery sensor, reduce the cost and size of PMSM control system, improve the reliability of system, a kind of novel Second Order Sliding Mode observer is devised using Lyapunov function method, Second Order Sliding Mode observer eliminates system chatter in the case where no low-pass filter, smooth back-emf signal is obtained for rotor-position and velocity estimation, to improve accuracy of observation and system robustness.
Description
Technical Field
The invention relates to the field of permanent magnet synchronous motor control, in particular to a PMSM position sensorless vector control system and a PMSM position sensorless vector control method.
Background
The permanent magnet synchronous motor has the advantages of high power density, high efficiency, high reliability, simple structure, small volume, light weight and the like, and the permanent magnet material price is reduced in recent years, so that the permanent magnet synchronous motor becomes the first choice for realizing energy conservation of a motor system. However, the permanent magnet synchronous motor is a multivariable, strongly coupled, nonlinear system, and in the design of a control system, there are many factors such as current coupling, system saturation, parameter perturbation, external disturbance and the like, which directly affect the system performance of the permanent magnet synchronous motor.
In a vector control system of a permanent magnet synchronous motor, position information of a rotor plays a crucial role, and traditional rotor position detection is mainly realized by a mechanical sensor such as a rotary transformer or a photoelectric encoder, but the mechanical sensor has the defects of high cost, low reliability, low efficiency and the like. In some applications it even affects the reliability of the system.
In recent years, in order to avoid the above-mentioned disadvantages, a position sensorless control method of a permanent magnet synchronous motor has been rapidly developed. At present, a plurality of control methods of the permanent magnet synchronous motor without a position sensor are proposed, such as a stator flux linkage estimation method high-frequency signal injection method, a state observer, a model reference adaptive method extended Kalman filter sliding mode observer, a neural network identification method and the like. In which a sliding mode observer is rapidly developed because it is simpler and more robust than other methods. However, this method also has its own disadvantage, namely the presence of slip-mode "buffeting". In order to solve the problem of buffeting, domestic and foreign scholars propose a plurality of methods to improve the performance of the sliding-mode observer. Heretofore, in practical control systems, there have been mainly boundary layer methods and low-pass filter methods, both of which have their own drawbacks. The low-pass filter method is adopted to eliminate buffeting, so that phase lag can be caused; the boundary layer method cannot guarantee convergence to zero within the boundary range.
Disclosure of Invention
The invention aims to provide a PMSM position-sensorless vector control system and a PMSM position-sensorless vector control method, which solve the problem of vector control of a PMSM position-sensorless vector control and eliminate the buffeting phenomenon of a traditional sliding mode observer.
The technical scheme for realizing the purpose of the invention is as follows: a PMSM (permanent magnet synchronous motor) position sensorless vector control system comprises a Clark conversion module, a Park inverse transformation module, a pulse width modulation module, an inverter module, a sliding mode observer, a first comparator, a second comparator, a third comparator, a rotating speed regulator and a current regulator; wherein,
the input end of the Clark conversion module is connected with the three-phase stator current output end of the permanent magnet synchronous motor, and the output end of the Clark conversion module is connected with the input end of the Park conversion module and the input end of the sliding mode observer;
the d-axis current output end of the Park conversion module is connected with the feedback input end of the first comparator, and the output end of the first comparator is connected with the d-axis voltage input end of the Park inverse conversion module through the current regulator;
the q-axis current output end of the Park conversion module is connected with the feedback input end of a second comparator, and the output end of the second comparator is connected with the q-axis voltage input end of the Park inverse conversion module through a current regulator;
the output end of the Park inverse transformation module is connected with the input end of the pulse width modulation module, the output end of the pulse width modulation module is connected with the input end of the inverter module, and the output end of the inverter module is connected with the control end of the permanent magnet synchronous motor;
the output end of the sliding mode observer is connected with the feedback input end of the third comparator, and the output end of the third comparator is connected with the input end of the second comparator through the rotating speed regulator.
A control method based on the PMSM position sensorless vector control system comprises the following steps:
step one, collecting three-phase stator current signal i of PMSMa、ib、icAnd stator current i under an equivalent two-phase static coordinate system is output through Clark conversionα、iβ；
Step two, according to the stator current i under the two-phase static coordinate system obtained in the step oneα、iβInputting the rotor speed omega and the position theta into a sliding-mode observer;
step three, according to the stator current i under the two-phase static coordinate system obtained in the step oneα、iβStator current i under an equivalent two-phase rotating coordinate system is output through Park conversiond、iq；
Step four, setting the d-axis reference current as IdREF0, and the current i obtained in step threedPerforming difference, and outputting a reference voltage V of a d axis after the difference value is regulated by a current regulatord；
Step five, according to the rotating speed estimated value output by the sliding mode observer in the step two and the given rotating speed value NREFMaking difference, the difference value passes through a rotating speed regulator and then outputs a reference current I of a q axisqREF；
Step six, according to the reference current I of the q axis in the step fiveqREFWith the current i obtained in step threeqPerforming difference, and outputting a reference voltage V of a q axis after the difference value is regulated by a current regulatorq；
Step seven, the d-axis and q-axis reference voltages V output in the step four and the step six are comparedd、VqAfter Park inverse transformation, the control voltage V under the two-phase static coordinate system is outputα、Vβ；
Step eight, controlling the two-phase control voltage V in the step sevenα、VβCarrying out space vector modulation and outputting 6 paths of PWM waveforms;
step nine, inputting the PWM waveform output in the step eight into a three-phase inverter, and inputting three-phase voltage U to the PMSM by the invertera、Ub、UcThereby controlling the permanent magnet synchronous motor to run and completing the vector control of the position sensorless PMSM.
Compared with the prior art, the invention has the following remarkable advantages: (1) according to the invention, the sliding-mode observer is used for replacing a traditional mechanical sensor to detect the position and the speed of the PMSM, so that the cost and the size of a PMSM control system are reduced, and the reliability of the system is improved; (2) the method has the advantages that vector control is adopted, stator current of the vehicle-mounted motor is decoupled, double closed-loop control of current and rotating speed is introduced, control is simple, adjusting precision is high, and the on-off of a power electronic device in an inverter circuit is controlled based on a Space Vector Pulse Width Modulation (SVPWM) technology, so that power is supplied to the permanent magnet synchronous motor; (3) the invention provides a novel second-order sliding mode observer which can not only eliminate the phenomenon of 'buffeting' of a sliding mode, but also avoid phase lag due to the fact that a filter is not adopted.
Drawings
FIG. 1 is a schematic structural diagram of a PMSM position sensorless vector control system based on a sliding-mode observer.
FIG. 2 is a block diagram of a sliding-mode observer system according to the present invention.
Detailed Description
With reference to fig. 1 and 2, a PMSM position sensorless vector control system includes a Clark transformation module, a Park inverse transformation module, a pulse width modulation module, an inverter module, a sliding mode observer, a first comparator, a second comparator, a third comparator, a rotation speed regulator, and a current regulator; wherein,
the input end of the Clark conversion module is connected with the three-phase stator current output end of the permanent magnet synchronous motor, and the output end of the Clark conversion module is connected with the input end of the Park conversion module and the input end of the sliding mode observer;
the d-axis current output end of the Park conversion module is connected with the feedback input end of the first comparator, and the output end of the first comparator is connected with the d-axis voltage input end of the Park inverse conversion module through the current regulator;
the q-axis current output end of the Park conversion module is connected with the feedback input end of a second comparator, and the output end of the second comparator is connected with the q-axis voltage input end of the Park inverse conversion module through a current regulator;
the output end of the Park inverse transformation module is connected with the input end of the pulse width modulation module, the output end of the pulse width modulation module is connected with the input end of the inverter module, and the output end of the inverter module is connected with the control end of the permanent magnet synchronous motor;
the output end of the sliding mode observer is connected with the feedback input end of the third comparator, and the output end of the third comparator is connected with the input end of the second comparator through the rotating speed regulator.
A control method based on the PMSM position sensorless vector control system comprises the following steps:
step one, collecting three-phase stator current signal i of PMSMa、ib、icAnd stator current i under an equivalent two-phase static coordinate system is output through Clark conversionα、iβ；
Step two, according to the stator current i under the two-phase static coordinate system obtained in the step oneα、iβInputting the rotor speed omega and the position theta into a sliding-mode observer;
step three, according to the stator current i under the two-phase static coordinate system obtained in the step oneα、iβStator current i under an equivalent two-phase rotating coordinate system is output through Park conversiond、iq；
Step four, setting the d-axis reference current as IdREF0, and the current i obtained in step threedPerforming difference, and outputting a reference voltage V of a d axis after the difference value is regulated by a current regulatord；
Step five, according to the rotating speed estimated value output by the sliding mode observer in the step two and the given rotating speed value NREFMaking difference, the difference value passes through a rotating speed regulator and then outputs reference electricity of a q axisStream IqREF；
Step six, according to the reference current I of the q axis in the step fiveqREFWith the current i obtained in step threeqPerforming difference, and outputting a reference voltage V of a q axis after the difference value is regulated by a current regulatorq；
Step seven, the d-axis and q-axis reference voltages V output in the step four and the step six are comparedd、VqAfter Park inverse transformation, the control voltage V under the two-phase static coordinate system is outputα、Vβ；
Step eight, controlling the two-phase control voltage V in the step sevenα、VβCarrying out space vector modulation and outputting 6 paths of PWM waveforms;
step nine, inputting the PWM waveform output in the step eight into a three-phase inverter, and inputting three-phase voltage U to the PMSM by the invertera、Ub、UcThereby controlling the permanent magnet synchronous motor to run and completing the vector control of the position sensorless PMSM.
In order to avoid the phenomenon of 'buffeting' of traditional sliding mode observation and the problem of phase lag caused by the adoption of a low-pass filter, the sliding mode observer adopts a second-order sliding mode observer which is designed by a Lyapunov function method, not only can the phenomenon of 'buffeting' of the sliding mode be eliminated, but also the phase lag is avoided due to the fact that no filter is adopted, and the observation precision and the system robustness are greatly improved compared with the traditional sliding mode observer.
In step one, the conversion formula involved is as follows:
in step three, the conversion formula involved is as follows:
whereinIs the PMSM rotor angle estimated by a sliding-mode observer.
The conversion formula involved in step seven is as follows:
in step two, the sliding-mode observer is designed as follows:
whereinIs is＝[iα,iβ]TAn estimate of (d);andis stator resistance RsAnd an estimate of the inductance L; u. ofs＝[Vα,Vβ]TIs the value of PMSM stator voltage under two-phase stationary coordinates; z is ═ zα,zβ]T。
Under a two-phase static coordinate system, a permanent magnet synchronous motor model is as follows:
wherein eα、eβIs that the PMSM is stationary in two phasesBack emf in coordinates.
When the parameter satisfiesThe error dynamic equation of the stator current estimation can be obtained by subtracting the equation (5) and the equation (4), and the equation is as follows:
wherein,is the error in the observation of the current,and es＝[eα,eβ]T。
The sliding surface is defined as follows:
in order to eliminate the sliding mode buffeting phenomenon of the system, the second-order control law of the sliding mode observer needs to be designed to realize a second-order sliding mode stateAnd (4) controlling. The sliding mode surface is selected as a form shown in a formula (7), and the control law of the sliding mode observer is designed according to the formulas (8), (9) and (10), so that the stator current error system of the permanent magnet synchronous motor can be converged to zero.
z＝zeq+zsw(8)
Wherein sgn(s) ═ sgn(s)α),sgn(sβ)]T；Gamma & gt 0, lambda & gt 0, rho & gt 0 are all system design parameters.
Because the second-order sliding mode observer usesIn addition, in practical application, the derivative cannot be directly obtained, so that the derivative is obtained by adopting the estimator of the differentiator in the specific calculation of the algorithm, and the estimated value of the differentiator is calculated according to the following formula:
wherein L isj> 0, j- α as a design parameter, the estimator is set to:
therefore, the sliding-mode observer is used for replacing a traditional mechanical sensor to detect the position and the speed of the PMSM, the cost and the size of a PMSM control system are reduced, and the reliability of the system is improved; the novel second-order sliding mode observer can eliminate the 'buffeting' phenomenon of the sliding mode, and avoids phase lag due to the fact that a filter is not adopted.
Claims (4)
1. A PMSM (permanent magnet synchronous motor) position sensorless vector control system is characterized by comprising a Clark conversion module, a Park inverse conversion module, a pulse width modulation module, an inverter module, a sliding mode observer, a first comparator, a second comparator, a third comparator, a rotating speed regulator and a current regulator; wherein,
the input end of the Clark conversion module is connected with the three-phase stator current output end of the permanent magnet synchronous motor, and the output end of the Clark conversion module is connected with the input end of the Park conversion module and the input end of the sliding mode observer;
the d-axis current output end of the Park conversion module is connected with the feedback input end of the first comparator, and the output end of the first comparator is connected with the d-axis voltage input end of the Park inverse conversion module through the current regulator;
the q-axis current output end of the Park conversion module is connected with the feedback input end of a second comparator, and the output end of the second comparator is connected with the q-axis voltage input end of the Park inverse conversion module through a current regulator;
the output end of the Park inverse transformation module is connected with the input end of the pulse width modulation module, the output end of the pulse width modulation module is connected with the input end of the inverter module, and the output end of the inverter module is connected with the control end of the permanent magnet synchronous motor;
the output end of the sliding mode observer is connected with the feedback input end of the third comparator, and the output end of the third comparator is connected with the input end of the second comparator through the rotating speed regulator.
2. A control method for a PMSM position sensorless vector control system according to claim 1, comprising the steps of:
step one, collecting three-phase stator current signal i of PMSMa、ib、icAnd stator current i under an equivalent two-phase static coordinate system is output through Clark conversionα、iβ；
Step two, according to the stator current i under the two-phase static coordinate system obtained in the step oneα、iβInputting the rotor speed omega and the position theta into a sliding-mode observer;
step three, according to the stator current i under the two-phase static coordinate system obtained in the step oneα、iβStator current i under an equivalent two-phase rotating coordinate system is output through Park conversiond、iq；
Step four, setting the d-axis reference current as IdREF0, and the current i obtained in step threedPerforming difference, and outputting a reference voltage V of a d axis after the difference value is regulated by a current regulatord；
Step five, according to the rotation output by the sliding mode observer in the step twoSpeed estimation value and given speed value NREFMaking difference, the difference value passes through a rotating speed regulator and then outputs a reference current I of a q axisqREF；
Step six, according to the reference current I of the q axis in the step fiveqREFWith the current i obtained in step threeqPerforming difference, and outputting a reference voltage V of a q axis after the difference value is regulated by a current regulatorq；
Step seven, the d-axis and q-axis reference voltages V output in the step four and the step six are comparedd、VqAfter Park inverse transformation, the control voltage V under the two-phase static coordinate system is outputα、Vβ；
Step eight, controlling the two-phase control voltage V in the step sevenα、VβCarrying out space vector modulation and outputting 6 paths of PWM waveforms;
step nine, inputting the PWM waveform output in the step eight into a three-phase inverter, and inputting three-phase voltage U to the PMSM by the invertera、Ub、UcThereby controlling the permanent magnet synchronous motor to run and completing the vector control of the position sensorless PMSM.
3. The PMSM position sensorless vector control method of claim 2, wherein in step one, the Clark transformation formula is as follows:
in step three, the Park transformation formula is as follows:
whereinThe angle of the PMSM rotor estimated by a sliding mode observer;
in step seven, the Park inverse transformation formula is as follows:
4. the PMSM position sensorless vector control method of claim 2, wherein in step two, the sliding mode observer is designed as follows:
whereinIs is＝[iα,iβ]TAn estimate of (d);andis stator resistance RsAnd an estimate of the inductance L; u. ofs＝[Vα,Vβ]TIs the value of PMSM stator voltage under two-phase stationary coordinates; z is ═ zα,zβ]T。
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110323984A (en) * | 2019-07-19 | 2019-10-11 | 杭州洲钜电子科技有限公司 | Permanent magnet synchronous motor method for controlling position-less sensor, system and storage medium |
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| 刘江: "基于二阶滑模观测器的永磁同步电动机无传感器控制", 《微特电机》 * |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110323984A (en) * | 2019-07-19 | 2019-10-11 | 杭州洲钜电子科技有限公司 | Permanent magnet synchronous motor method for controlling position-less sensor, system and storage medium |
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