CN109245647B - Pulse-vibration high-frequency injection-based sensorless control method for permanent magnet synchronous motor - Google Patents
Pulse-vibration high-frequency injection-based sensorless control method for permanent magnet synchronous motor 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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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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
Abstract
The invention discloses a pulse vibration high-frequency injection permanent magnet synchronous motor sensorless control method, and belongs to the field of motor control. The method comprises the following steps: the high-frequency signal generator generates a high-frequency voltage signal and injects the high-frequency voltage signal into an estimated d-axis coordinate system; the current sensor samples to obtain the stator winding current ia、ibAnd icAnd transforming the current to a coordinate system rotating synchronously with the estimated position to obtain d-q axis current idAnd iq(ii) a According to the obtained iqExtracting position error information by using a moving average filter, and calculating a rotor position estimated value; according to the obtained idAnd calculating the current amplitude by using a moving average filter, and judging the polarity of the magnetic pole of the rotor. The method can realize position identification at zero speed and low speed, and the signal processing process omits a band-pass filter and a low-pass filter, thereby improving the stability and the dynamic and static performances of the system; the moving average filter is easy to implement digitally and only needs to complete the window length design, thus simplifying the signal processing procedure.
Description
Technical Field
The invention relates to a position sensorless control algorithm of a permanent magnet synchronous motor, and belongs to the field of motor control.
Background
The permanent magnet synchronous motor has the advantages of high power density, high efficiency, low noise and the like, and is widely applied to the fields of electric automobiles, wind power and servo. The motor driving system mainly has vector control and direct torque control, but both of them need to accurately obtain the position information of the rotor. Position can be detected using a photoelectric encoder or a rotary transformer, but mechanical sensors increase system cost and risk of failure. Therefore, the research of the algorithm without the position sensor has important significance.
At present, the operation methods of the permanent magnet synchronous motor without the position sensor are mainly divided into a method based on the back electromotive force of the motor and a method based on the salient polarity of the motor. In the medium-high speed range, a method based on the back electromotive force of the motor is generally adopted, but the back electromotive force is proportional to the rotating speed, and the method cannot be applied to the low-speed and zero-speed occasions. Under the conditions of zero speed and low speed, the signal excitation method based on the salient polarity of the motor can better detect position information, and mainly comprises a pulse vibration high-frequency injection method and a rotation high-frequency injection method. Compared with a rotating high-frequency injection method, the pulse vibration high-frequency injection method belongs to an amplitude demodulation method, is less affected by delay and has high position estimation precision. However, in the pulse vibration high-frequency injection method, a band-pass filter and a low-pass filter are adopted to extract rotor position information in the signal demodulation process. The use of filters increases system complexity while limiting system bandwidth and reducing stability and dynamics.
In the 'method for detecting the position of the rotor of the surface-mounted permanent magnet synchronous motor' published in 2017, 8, 15 and invented in China patent CN 107046384A, a high-frequency current signal is injected into a straight shaft of a virtual high-speed rotating coordinate system, and then modulation and filtering are performed on high-frequency voltage response, but a regulator of the high-frequency current has higher requirements on bandwidth and is difficult to design. In the technical and electrical science report of 2017, "a method for detecting the position of a low-speed rotor of a surface-mounted permanent magnet synchronous motor based on a generalized second-order integrator", a novel rotor position observer based on the generalized second-order integrator is provided, a front-stage generalized second-order integrator is used for extracting a high-frequency signal, and a rear stage is used for extracting an error amplitude. However, this scheme adds two inner rings and two parameters that are adjusted in real time, which may affect the system stability. In the year 2017, an IEEE document 'PMSM Sensorless Control by Injecting HF pulse Carrier Signal Into ABC Frame' ('permanent magnet synchronous motor position Sensorless Control based on a high-frequency pulse vibration Signal injection method to an ABC coordinate system' -in the year 2017 IEEE power electronics journal), the method proposes to inject a high-frequency pulse vibration Signal Into an ABC three-phase coordinate system of a motor, can directly calculate the position of a rotor, but still needs a low-pass filter, introduces a plurality of parameters and needs design, and increases the complexity of Signal processing.
The existing pulse vibration high-frequency injection method for estimating the rotor position has the following defects:
1) the adoption of a band-pass filter and a low-pass filter can limit the bandwidth of a system and influence the stability and the dynamic performance;
2) the signal processing process is complex and requires the design of multiple parameters.
Disclosure of Invention
The invention aims to solve the technical problems of poor dynamic and static performances and complex signal processing process in the identification of the zero-speed and low-speed positions of a permanent magnet synchronous motor, and provides a pulse vibration high-frequency injection-based permanent magnet synchronous motor position sensorless control method.
The object of the invention is thus achieved. The invention provides a pulse vibration high-frequency injection-based permanent magnet synchronous motor sensorless control method, which comprises the following steps of injecting a pulse vibration high-frequency voltage signal into a motor, sampling a stator winding current, and estimating the position and the rotating speed of a motor rotor from high-frequency current response:
step 1, a high-frequency signal generator generates a high-frequency voltage signal vdhAnd injected into an estimated d-axis coordinate system, vdhAs shown in the following formula:
vdh＝Vhcosωht
wherein, VhIs the amplitude of the high-frequency voltage, omegahIs the high-frequency voltage angular frequency, t represents the signal injection time;
step 2, sampling by a current sensor to obtain stator winding current ia、ibAnd icAnd transforming the current into a coordinate system rotating synchronously with the estimated position to obtain a d-axis stator winding current idAnd q-axis stator winding current iqThe expression is as follows:
wherein idfIs d-axis fundamental current value, iqfIs a q-axis fundamental current value, Δ θrAs rotor position offset value, △ θr＝θr-θest，θrAs true value of rotor position, thetaestAs rotor position estimate, L0Is mean inductance, L1 is differential inductance, L0＝(Ld+Lq)/2，L1＝(Ld-Lq)/2，LdIs d-axis inductance, LqIs a q-axis inductor;
step 3, obtaining q-axis stator winding current i according to step 2qCalculating an estimated value theta of the rotor positionest；
(1) Will iqAnd sin omegaht is multiplied by the value of the signal, and the product is passed through a moving average filter MAF to output a position deviation signal epsilon (delta theta)r) Expressed as:
(2) the position deviation signal epsilon (delta theta)r) The output of the proportional-integral regulator is used as the input of the proportional-integral regulator to obtain the estimated value omega of the rotating speedestExpressed as:
wherein, KpIs the coefficient of the proportional term, KiIs an integral term coefficient, s is a laplacian operator;
(3) estimated value omega of rotating speedestThe integrator output, as an input to the integrator, yields a rotor position estimate θestExpressed as:
step 4, obtaining d-axis stator winding current i according to the step 2dJudging the polarity of the rotor magnetic pole and outputting an angle compensation value thetaestcom；
(1) Will idAnd sin omegaht is multiplied by the output polarity judgment value i of the product MAF through a moving average filterpolExpressed as:
(2) d-axis fundamental frequency current command value idrefIs given as 0.1isnWherein isnFor the rated current value of the motor, record i at that timepolHas a value of I1；
(3) d-axis fundamental frequency current command value idrefIs given as 0.6isnRecord this time ipolHas an amplitude of I2；
(4) Comparison I1And I2Size, if I1≥I2Angle compensation value thetaestcomDenoted by thetaestcom＝θest(ii) a If I1<I2Then thetaestcom＝θest+π。
Compared with the prior art, the invention has the following beneficial effects:
1) the higher harmonics can be better filtered by adopting the moving average filter, the use of a band-pass filter and a low-pass filter is avoided, and the stability and the dynamic and static performances of the system are improved;
2) the moving average filter is easy to realize digitally, and only the window length design needs to be completed, thereby simplifying the signal processing process.
Drawings
FIG. 1 is a flow chart of an embodiment of the method of the present invention.
Fig. 2 is a circuit schematic of the method of the present invention.
FIG. 3 is a schematic diagram of rotor position estimation using the method of the present invention.
Fig. 4 is a schematic diagram of the determination of the polarity of the magnetic pole of the rotor by the method of the present invention.
Fig. 5 is a schematic diagram of rotor position estimation using a conventional method.
FIG. 6 is a graph of magnitude versus frequency response for MAF and LPF.
Fig. 7 is a waveform diagram of a sudden change from no-load to full-load when a conventional method is used for the operation of a permanent magnet synchronous motor without a position sensor.
Fig. 8 is a waveform diagram of the sudden change from no-load to full-load when the method of the present invention is used for the operation of the permanent magnet synchronous motor without a position sensor.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
FIG. 1 is a flow chart of the method of the present invention, from which it can be seen that the present invention comprises the following steps.
Step 1(S01), the high frequency signal generator generates a high frequency voltage signal vdhAnd injected into an estimated d-axis coordinate system, vdhAs shown in the following formula:
vdh＝Vhcosωht
wherein, VhIs the amplitude of the high-frequency voltage, omegahIs the high-frequency voltage angular frequency, t represents the signal injection time;
step 2(S02), the current sensor samples to obtain the stator winding current ia、ibAnd icAnd transforming the current into a coordinate system rotating synchronously with the estimated position to obtain a d-axis stator winding current idAnd q-axis stator winding current iq；
Step 3(S03), according to the q-axis stator winding current i obtained in step 2qCalculating an estimated value theta of the rotor positionest；
And 4, step 04, obtaining d-axis stator winding current idCalculating current amplitude by using a moving average filter, judging the polarity of a rotor magnetic pole, and outputting an angle compensation value thetaestcom。
Fig. 2 is a schematic diagram of a circuit employing the method of the present invention. Injecting high-frequency voltage signal v into d-axis coordinate system estimated by motorhThe high-frequency component is superposed with the fundamental frequency component and then the fundamental frequency component is subjected to coordinate transformation to obtain a modulation voltage uαAnd uβThe coordinate transformation angle is the rotor position estimated value thetaest. Generating switching signal of IGBT, DC side voltage U by space vector modulation (SVPWM)dcThe motor is driven by three-phase alternating current generated by a Voltage Source Inverter (VSI). A phase current and a phase current of the stator are sampled by adopting a current sensor, and then a three-phase current i is obtaineda、ibAnd icAnd converting the current into a coordinate system rotating synchronously with the estimated position to obtain d-q axis current id、iqThe coordinate transformation angle is the rotor position estimated value thetaest. According to the obtained q-axis current iqCalculating an estimated value theta of the rotor positionest. According to the obtained d-axis current idJudging the polarity of the rotor magnetic pole and outputting an angle compensation value thetaestcom。
FIG. 3 is a schematic diagram of rotor position estimation using the method of the present invention. And tracking the position information of the rotor by adopting a phase-locked loop, wherein the phase-locked loop consists of a multiplication phase discriminator, a loop filter and a voltage-controlled oscillator. q-axis current iqAnd sin omegaht is multiplied by the reference signal and a position deviation signal epsilon (delta theta) is output by the product through a Moving Average Filter (MAF)r). The position deviation signal is processed by a Proportional Integral (PI) regulator to obtain a rotation speed estimation value omegaestEstimated value of rotation speed ωestThen the rotor position estimated value theta is obtained through an integrator 1/sest。
Fig. 4 is a schematic diagram of the polarity determination of the rotor magnetic pole. d-axis current idAnd sin omegaht is multiplied by t, and the product is output as a polarity judgment value i through a Moving Average Filter (MAF)pol. d-axis fundamental frequency current command value idrefIs given as 0.1isnWherein isnFor the rated current value of the motor, record i at that timepolHas a value of I1. d-axis fundamental frequency current command value idrefIs given as 0.6isnRecord this time ipolHas an amplitude of I2. Comparison I1And I2Size, if I1<I2Then rotor position estimate θestIt also needs to compensate pi.
Note that: all angles mentioned in the present invention are electrical angles.
Experiments were carried out on an 18kW permanent magnet synchronous machine to verify the implementation of the method. The dc side voltage was 324V, the switching frequency was 8400Hz, and the dead time was set to 2.5 us. The rated power of the motor is 18kW, the rated voltage is 230V, the rated current is 100A, the rated rotating speed is 3000rpm, and the number of pole pairs is 4.
The method for realizing the sensorless control of the permanent magnet synchronous motor comprises the following steps:
step 1, a high-frequency signal generator generates a high-frequency voltage signal vdhAnd injected into an estimated d-axis coordinate system, vdhAs shown in the following formula:
vdh＝Vhcosωht
wherein, VhIs the amplitude of the high-frequency voltage, omegahFor high frequency voltage angular frequency, t represents the signal injection time.
In this embodiment, VhIs selected as
ωh＝2πfh，fhThe selection was 400 Hz.
Step 2, sampling by a current sensor to obtain stator winding current ia、ibAnd icAnd transforming the current into a coordinate system rotating synchronously with the estimated position to obtain a d-axis stator winding current idAnd q-axis stator winding current iqWherein the coordinate transformation expression is:
wherein, thetaestIs a rotor position estimate. i.e. idAnd iqThe expression of (a) is:
wherein idfIs d-axis fundamental current value, iqfIs a q-axis fundamental current value, Δ θrAs rotor position offset value, △ θr＝θr-θest，θrAs true value of rotor position, L0Is mean value inductance, L1Is a differential inductance, L0＝(Ld+Lq)/2，L1＝(Ld-Lq) L2, Ld is d-axis inductance, LqIs the q-axis inductance.
Step 3, obtaining q-axis stator winding current i according to step 2qCalculating an estimated value theta of the rotor positionest。
The method specifically comprises the following steps:
(1) will iqAnd sin omegaht is multiplied by the reference signal and a position deviation signal epsilon (delta theta) is output by the product through a Moving Average Filter (MAF)r) Expressed as:
(2) position deviation signal epsilon (delta theta)r) As input of proportional-integral regulator (PI), the output of the PI is used to obtain estimated value of rotation speed omegaestExpressed as:
wherein, KpIs the coefficient of the proportional term, KiIs an integral term coefficient, s is a laplacian operator;
(3) estimated value omega of rotating speedestThe rotor position estimated value theta is obtained by the output of the integrator 1/s as the input of the integrator 1/sestExpressed as:
step 4, obtaining d-axis stator winding current i according to the step 2dJudging the polarity of the rotor magnetic pole and outputting an angle compensation value thetaestcom。
The method specifically comprises the following steps:
(1) will idAnd sin omegaht are multiplied by t and the product is passed through a moving average filter (MA)F) Output polarity judgment value ipolExpressed as:
(2) d-axis fundamental frequency current command value idrefIs given as 0.1isnWherein isnFor the rated current value of the motor, record i at that timepolHas a value of I1；
(3) d-axis fundamental frequency current command value idrefIs given as 0.6isnRecord this time ipolHas an amplitude of I2；
(4) Comparison I1And I2Size, if I1≥I2Angle compensation value thetaestcomDenoted by thetaestcom＝θest(ii) a If I1<I2Then thetaestcom＝θest+π。
In order to verify the effectiveness of the method, the method is compared with the traditional pulse vibration high-frequency injection method. The position estimation schematic diagram of the method for controlling the full-speed range of the surface-mounted permanent magnet synchronous motor, which is granted and published in 2016, 3, month and 30, of the chinese invention patent CN 1103427746B, is shown in fig. 5. Signal demodulation is performed using a Band Pass Filter (BPF) and a Low Pass Filter (LPF), while tracking the rotor position information using a phase locked loop.
FIG. 6 is a graph of magnitude versus frequency response for MAF and LPF. Since the switching frequency of the system is 8400Hz and the frequency of the injected pulse-ringing signal is 400Hz, the window length of the MAF is chosen 21. The bandwidth of MAF is 180Hz, and the bandwidth of LPF is 180 Hz. As can be seen from the figure, the gain of the LPF is-10 dB at 400Hz, -25dB at 800Hz, and-66 dB at 8400 Hz. While the gains of MAF at 400Hz, 800Hz and 8400Hz are below-300 dB. By comparison, the MAF has a stronger high-frequency rejection capability and can reject multiple frequency signals under the premise of having the same bandwidth. In the traditional high-frequency pulse vibration injection method, the high-frequency suppression capability of the LPF is limited, and signal demodulation is often completed by combining with the BPF, so that the system bandwidth is reduced, and the dynamic and static performances of the system are influenced.
Fig. 7 is a waveform diagram of full load sudden change when a conventional method is adopted for the permanent magnet synchronous motor without a position sensor. The following steps are sequentially performed from top to bottom: phase current, estimated position, position deviation. The speed loop command was 480rpm, with the load abruptly changed from no load to full load at 0.2 s. It can be seen from the figure that the phase current and the estimated position have a large distortion after the sudden change, with a duration of 25 ms. In addition, the maximum time of the position deviation value reaches 10 degrees, and 6 times of pulsation are obvious at the steady state time.
Fig. 8 is a full-load sudden change waveform diagram when the method of the present invention is used for the permanent magnet synchronous motor without a position sensor. The following steps are sequentially performed from top to bottom: phase current, estimated position, position deviation. The speed loop command was 480rpm, with the load abruptly changed from no load to full load at 0.2 s. It can be seen from the figure that, compared with the conventional method, the method of the present invention has the advantages of small distortion degree, short duration, small position deviation value of the phase current and the estimated position after full load sudden change, and 6 times of pulsation of the estimated position at the steady state moment is suppressed.
Claims (1)
1. A permanent magnet synchronous motor sensorless control method based on pulse vibration high-frequency injection is characterized in that a pulse vibration high-frequency voltage signal is injected into a motor, a stator winding current is sampled, and the position and the rotating speed of a motor rotor are estimated from high-frequency current response, and the method comprises the following steps:
step 1, a high-frequency signal generator generates a high-frequency voltage signal vdhAnd injected into an estimated d-axis coordinate system, vdhAs shown in the following formula:
vdh＝Vhcosωht
wherein, VhIs the amplitude of the high-frequency voltage, omegahIs the high-frequency voltage angular frequency, t represents the signal injection time;
step 2, sampling by a current sensor to obtain stator winding current ia、ibAnd icAnd transforming the current into a coordinate system rotating synchronously with the estimated position to obtain a d-axis stator winding current idAnd q-axis stator winding current iqThe expression is as follows:
wherein idfIs d-axis fundamental current value, iqfIs a q-axis fundamental current value, Δ θrAs rotor position offset value, △ θr＝θr-θest，θrAs true value of rotor position, thetaestAs rotor position estimate, L0Is mean value inductance, L1Is a differential inductance, L0＝(Ld+Lq)/2，L1＝(Ld-Lq)/2，LdIs d-axis inductance, LqIs a q-axis inductor;
step 3, obtaining q-axis stator winding current i according to step 2qCalculating an estimated value theta of the rotor positionest；
(1) Will iqAnd sin omegaht is multiplied by the value of the signal, and the product is passed through a moving average filter MAF to output a position deviation signal epsilon (delta theta)r) Expressed as:
(2) the position deviation signal epsilon (delta theta)r) The output of the proportional-integral regulator is used as the input of the proportional-integral regulator to obtain the estimated value omega of the rotating speedestExpressed as:
wherein, KpIs the coefficient of the proportional term, KiIs an integral term coefficient, s is a laplacian operator;
(3) estimated value omega of rotating speedestAs input to the integrator, the integrator output is convertedSub-position estimate θestExpressed as:
step 4, obtaining d-axis stator winding current i according to the step 2dJudging the polarity of the rotor magnetic pole and outputting an angle compensation value thetaestcom；
(1) Will idAnd sin omegaht is multiplied by the output polarity judgment value i of the product MAF through a moving average filterpolExpressed as:
(2) d-axis fundamental frequency current command value idrefIs given as 0.1isnWherein isnFor the rated current value of the motor, record i at that timepolHas a value of I1；
(3) d-axis fundamental frequency current command value idrefIs given as 0.6isnRecord this time ipolHas an amplitude of I2；
(4) Comparison I1And I2Size, if I1≥I2Angle compensation value thetaestcomDenoted by thetaestcom＝θest(ii) a If I1<I2Then thetaestcom＝θest+π。
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| CN109921712A (en) * | 2019-02-26 | 2019-06-21 | 浙江大学 | Permanent magnet synchronous motor two close cycles I/F control method based on injection high frequency pulsating voltage |
| CN109951117B (en) * | 2019-03-27 | 2020-11-03 | 江苏大学 | Position sensor-free permanent magnet synchronous motor control system |
| CN110429886B (en) * | 2019-07-19 | 2021-04-20 | 江苏大学 | Permanent magnet synchronous motor low-speed domain rotor position identification method |
| CN110995092A (en) * | 2019-11-01 | 2020-04-10 | 东南大学 | Magnetic pole judgment method applied to PMSM (permanent magnet synchronous motor) position sensorless control |
| CN111969901B (en) * | 2020-09-01 | 2022-02-01 | 南通大学 | Brushless direct current motor fault-tolerant control method considering faults of Hall position sensor |
| CN112737450B (en) * | 2020-12-24 | 2022-11-04 | 上海大学 | High-frequency injection compensation method for SPMSM rotor position estimation |
| CN113037166B (en) * | 2021-03-24 | 2022-09-27 | 中国人民解放军海军工程大学 | Amplitude observer-based high-frequency response current amplitude extraction method |
| CN113809969B (en) * | 2021-07-30 | 2023-10-20 | 中国电力科学研究院有限公司 | Synchronous motor rotor position evaluation method and device |
| CN113708691B (en) * | 2021-09-01 | 2023-12-22 | 广东汇天航空航天科技有限公司 | Rotor operation data estimation method, computing equipment, motor control method and system |
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