CN109347382A - Rotor position estimation method of permanent magnet direct-drive wind driven generator - Google Patents

Rotor position estimation method of permanent magnet direct-drive wind driven generator Download PDF

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CN109347382A
CN109347382A CN201811410850.3A CN201811410850A CN109347382A CN 109347382 A CN109347382 A CN 109347382A CN 201811410850 A CN201811410850 A CN 201811410850A CN 109347382 A CN109347382 A CN 109347382A
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rotor
electromotive force
permanent magnet
counter electromotive
iteration
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CN109347382B (en
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邢作霞
王鸿毅
项尚
赵海川
崔家平
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Shenyang University of Technology
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Shenyang University of Technology
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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
    • H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
    • H02P9/009—Circuit arrangements for detecting rotor position
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
    • H02P21/26—Rotor flux based control
    • 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
    • H02P2101/00—Special adaptation of control arrangements for generators
    • H02P2101/15—Special adaptation of control arrangements for generators for wind-driven turbines
    • 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
    • H02P2103/00—Controlling arrangements characterised by the type of generator
    • H02P2103/20—Controlling arrangements characterised by the type of generator of the synchronous type

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Eletrric Generators (AREA)

Abstract

A rotor position estimation method of a permanent magnet direct-drive wind driven generator comprises the steps of deforming a mathematical model of the permanent magnet synchronous wind driven generator under a synchronous rotation coordinate system, obtaining back electromotive force in unit time at fixed time intervals and sampling time, and preparing for subsequent discretization; aiming at the characteristics of the permanent magnet synchronous wind driven generator, the application provides a permanent magnet wind driven generator position estimation method based on IPS-PLL, the IPS-PLL can increase the accuracy of rotor position estimation, accelerate the response speed of a system, and replace the parameter setting process of a PI controller of SRF-PLL. The evaluation method is effective, the rotating speed error can be reduced by 1 time, and the position error is controlled below 0.03 rad. And the rotor position estimation remains accurate at multiple wind speeds. Robustness of control system performance may be enhanced.

Description

A kind of rotor position estimate method of permanent magnet direct-driving aerogenerator
Technical field
The content of present invention is related to a kind of rotor position estimate method of permanent magnet direct-driving aerogenerator, and permanent magnetism wind may be implemented The accurate estimation of power generator rotor-position.It can be used for improving the maximal wind-energy capture of wind generator system, and realize permanent magnetism Wind-driven generator generator-side converter wear is precisely controlled.
Background technique
In the research of wind-power electricity generation, researcher both domestic and external maintains wind generator system to go out part abandonment Power stability is held a definite attitude.Maximal wind-energy capture, which becomes, so in wind generator system weakens abandonment amount but remains to maintain electricity One important factor in order of Force system power output stability；And accurately generator-side converter wear control will be brought more stable straight Busbar voltage is flowed, this calculates the subsequent active reactive of wind generator system and grid-connected requirement provides basic operation operator.Most The rotor-position of permanent-magnetic wind driven generator and spinner velocity information are in wind-energy capture and accurately generator-side converter wear control It is obtained by sensor.Sensor is always unstable in the working environment of wind-driven generator, and sea turn motor in recent years The installed capacity of group gradually increases, and installation sensor is less useful for the maintenance of offshore wind farm unit.
Summary of the invention
Goal of the invention:
The present invention provides a kind of rotor position estimate method of permanent magnet direct-driving aerogenerator, by the magnetic linkage of rotor with Track, setting iteration optimizing algorithm accurately finds the rotor position information of permanent-magnetic wind driven generator, to solve permanent magnet wind generating The low problem of machine position-sensor-free rotor position estimate precision.
Technical solution:
A kind of rotor position estimate method of permanent magnet direct-driving aerogenerator, it is characterised in that: this method is by synchronous rotary Permanent magnet synchronous wind generator mathematical model deformation under coordinate system, obtains the unit time in Fixed Time Interval and sampling time Interior counter electromotive force is prepared for its subsequent discretization；By rotor field-oriented mode by dq axis counter electromotive force edIt is equivalent For rotor-position initial error angle, the reason of error occurs in permanent magnet wind power generator rotor location estimation, Yi Jixian are analyzed The reason of stage rotor position estimate method error occurs finds the compensation variable Δ ω for eliminating errorr；Design iteration function, By position compensation value Δ φrDiscretization, the process replace the PI tuning process of synchronous reference coordinate system phaselocked loop (SRF-PLL), Make the true rotor-position of estimated location infinite tendency by successive ignition；It is obtained by calculating, emulation, experiment and is guaranteeing to estimate Higher position estimation accuracy is obtained iteration 8 times while speed；Cost function is designed, by the offset Δ φ of discretizationrInto Row Optimum search finally extracts optimal estimated location in 64 estimation rotor position angles of 8 iteration；The process instead of The PI tuning process of SRF-PLL phaselocked loop guarantees increased estimated accuracy under the premise of system stable operation.
Permanent magnet synchronous wind generator is connected with pusher side total power back-to-back type current transformer, becomes through DC bus and grid side Flow device connect power grid, generator-side converter wear for realizing permanent magnet synchronous wind generator maximal power tracing；Pass through sampled voltage uαβWith electric current iαβDq shaft voltage and electric current are obtained by coordinate transform, counter electromotive force is calculated by sliding mode observer, is passing through IPS- PLL method estimates revolving speed；Pass through ωr=npωmIt will estimate revolving speedIt is converted into actual machine speed omegam；Then reference is calculated to turn SquareWherein constant kpIt is maximal wind-energy capture coefficient；By adjusting d axis and the q shaft current composition control circuit of PMSG, D axis reference current id,refIt is set as 0, q shaft current i is calculated using torque referenceq,ref, the actual value and reference of d axis and q axis Error between value is handled by PI controller, generates the reference voltage u of dq axisd,ref、uq,ref。
The method of iterative position optimizing are as follows: extract voltage, electric current through changes in coordinates and obtain dq shaft voltage, electric current: ud、uq、 iα、iβ, d axis counter electromotive force e is obtained with dq shaft voltage current signald, define φrWithRespectively practical and estimation rotor position Angle setting, rotor flux ψfIt should be aligned with d axis, φrWithBetween initial error be Δ φr；ΔφrWhen smaller, it is believed that ed≈Δ φr；Counter electromotive force d axis component is observed by SMO, to initial error Δ φrIt compensates；It will be with counter electromotive force edΔ of equal value φrDiscretization is carried out, obtains multiple and different initial error Δ φ in a time intervalr, followed by designed cost Function is by the lesser Δ φ of initial errorrIt filters out, obtains the optimal compensation value of the secondary iteration.
By way of iteration in a sampling instant by the rotor-position of permanent magnet synchronous wind generator it is discrete go out have The set of a rotor-position is limited, provides multiple back-emf signals in a sampling instant for counter electromotive force cost function, with Obtain optimal speed considerations item Δ ωr；
1) method of rotor-position discretization
By the optimization method of rotor-position discretization, it is under synchronous rotating frame with permanent magnet synchronous wind generator Basic mathematic model carries out the derivation of equation and deformation, ud, uqAnd id, iqRespectively stator voltage, the dq axis component of electric current, Ld, Lq For the stator inductance of PMSG, ed、eqFor dq axis counter electromotive force, RsIt is the stator resistance of PMSG；ωrFor rotor revolving speed, ψfFor Rotor flux；Obtain dq axis and permanent magnet synchronous wind generator counter electromotive force ed、eqBetween relationship；
By setting k as sampling time interval, TsFor the sampling time；The counter electromotive force calculation formula of discretization are as follows:
By e mentioned hereinaboved≈Δφr, we are by obtained Δ φrCarry out discretization；To keep rotor-position discrete Two nested circulations will be used by changing, and two nested iterations circulations are respectively i (i ∈ [0,7]) and j (j ∈ [0,7])；It is adopted each The sample moment goes out 8 rotor position informations by 8 each iteration of iteration, finally obtains 64 rotor position informations；iαβ[k],uαβ [k] is stator side voltage and current observation, φin,i[k] is the initial position of rotor angle of definition, Δ φi[k] is iteration step length；
φri,j[k]=φin,i[k]+(j-4)Δφi[k] (5)
2) design of anti-electronic cost function
Using discrete rotor position information, the d axis of counter electromotive force is calculated using formula (3) again by sliding mode observer Component edi,j, will be by counter electromotive force cost function optimizing；It is compared by multiple counter electromotive force, obtains cost function optimal value gopt；Thus formulating counter electromotive force cost function is optimal speed considerations item Δ ω in order to obtainr, it is equivalent in finite population Rotor-position in find optimal rotor-position；The cost of the form is used in the iterative position optimizing phaselocked loop proposed Function selects optimal rotor-position；gi,jΔ ω can be converted for 64 Jing Guo iterationrCompensation term, be equivalent at one 64 PI adjustings have been done in sampling instant；Using counter electromotive force cost function, the g that will be obtainedoptIt is converted into compensation term Δ ωr, the Δ ωrFor the best Δ ω based on FPS-PLL algorithmr；
gopt=min { g1,0[k], g1,1[k]Lg7,7[k]} (9)。
1) in step, iterative position optimizing algorithm, when first sampling instant sliding mode observer extraction first is anti-electronic Gesture ed1,0When, therewith by extracted ed1,0φ is converted into through cost functionr1,0, it is assumed that it is initialAnd gI, j[k] < gin[k]；Start first time iteration i=0 according to formula (6),And bring formula (5) into, it will generate eight A discrete rotor-positionUtilize these rotor-positions φRi, j[k] again The secondary counter electromotive force e that d axis component is calculated by sliding mode observerdi,j[k] obtains counter electromotive force using cost function optimization ed1,2, obtain rotor-position φin,1[k] continues through iteration, and so on；8 iteration are eventually passed through, each iteration obtains 8 Rotor position information has found best rotor position angle φ in 64 location informationsr,opt[k]；If from first time iteration Calculated position isFor second of iteration of outer circulation, have i=1 andBring formula (5) into again, 8 new rotor-positions will be generated；
Advantageous effect:
The present invention provides a kind of rotor position estimate method of permanent magnet direct-driving aerogenerator, and the present invention is based on iterative positions The permanent magnet wind power generator rotor location estimation method of optimizing phaselocked loop (IPS-PLL), by the rotor position for extracting a certain moment It installs and determines iteration function, it is therefore an objective to by the rotor-position angular discretization of extraction；The cost function of design screening auxiliary optimizing, purpose It is that the rotor position angle of discretization is subjected to screening optimizing, obtains accurate rotor position information.Iteration each time available 8 A location information, designing two nested circulations is respectively i (i ∈ [0,7]) and j (j ∈ [0,7]).Purpose is will be between each time Carry out 8 iteration respectively every obtained rotor-position, be equivalent to by each rotor-position it is discrete go out 64 location informations, from In extract optimal position angle.The invention can obtain relatively accurate rotor-position letter in the premise for guaranteeing estimating speed Breath.To realize the high rotor position estimation accuracy of permanent-magnetic wind driven generator position-sensor-free.
To sum up, for permanent magnet synchronous wind generator the characteristics of, proposes a kind of permanent magnet wind generating based on IPS-PLL Machine location estimation method, the IPS-PLL proposed send out the accuracy that can increase rotor position estimate, accelerate system response speed Degree, and instead of the PI attitude conirol process of SRF-PLL.The appraisal procedure is effective, speed error can be reduced 1 Times, location error is controlled in 0.03rad or less.And still keep accurate in windy fast lower rotor part location estimation.Control can be enhanced The robustness of system performance.
Detailed description of the invention
Fig. 1: the system construction drawing of the permanent magnet direct-driving aerogenerator rotor position estimate method based on IPS-PLL
The rotor field-oriented polar plot of Fig. 2: dq axis
Fig. 3: iterative position optimizing phase lock control block diagram
Fig. 4: the placement optimization iterative process flow chart of iterative position optimizing phaselocked loop
Fig. 5: iterative position optimizing phaselocked loop rotor position estimate method
Specific embodiment:
Permanent magnet synchronous wind generator is connected with pusher side total power back-to-back type current transformer, becomes through DC bus and grid side Flow device connect power grid, generator-side converter wear for realizing permanent magnet synchronous wind generator maximal power tracing (MPPT).By adopting Sample voltage uαβWith electric current iαβDq shaft voltage and electric current are obtained by coordinate transform, counter electromotive force is calculated by sliding mode observer, logical Cross IPS-PLL method estimation revolving speed.Pass through ωr=npωmIt will estimate revolving speedIt is converted into actual machine speed omegam.Then it calculates Torque referenceWherein constant kpIt is maximal wind-energy capture coefficient.Control is formed by the d axis and q shaft current that adjust PMSG Circuit processed, d axis reference current id,refIt is set as 0, q shaft current i is calculated using torque referenceq,ref, the actual value of d axis and q axis Error between reference value is handled by PI controller, generates the reference voltage u of dq axisd,ref、uq,ref.Base FPS-PLL control is former Reason figure is as shown in figure.
The thought of iterative position optimizing is from Model Predictive Control, general thought are as follows: extracts voltage, electric current becomes through coordinate Change obtains dq shaft voltage, electric current: ud、uq、iα、iβ, d axis counter electromotive force e is obtained with dq shaft voltage current signald.Rotor flux exists Polar plot under rotating coordinate system is as shown in Figure 1, wherein φrWithRespectively practical and estimation rotor position angle, rotor magnetic Chain ψfIt should be aligned with d axis, φrWithBetween initial error be Δ φr。ΔφrWhen smaller, it is believed that ed≈Δφr.Due to Counter electromotive force edThere are certain harmonic components, adjust obtained Δ φ by a PIrIt is not optimal value.And then pass through SMO observes counter electromotive force d axis component, to initial error Δ φrIt compensates.It will be with counter electromotive force edΔ φ of equal valuerCarry out from Dispersion obtains multiple and different initial error Δ φ in a time intervalr, will be first followed by designed cost function The lesser Δ φ of beginning errorrIt filters out, obtains the optimal compensation value of the secondary iteration.The process is the one of iterative position optimizing thought Secondary complete iterative process.Through calculating and experiment obtain it is optimal simultaneously by 8 identical obtained offsets of iterative manner And system response time will not be had an impact.
By way of iteration in a sampling instant by the rotor-position of permanent magnet synchronous wind generator it is discrete go out have The set of a rotor-position is limited, provides multiple back-emf signals in a sampling instant for counter electromotive force cost function, with Obtain optimal speed considerations item Δ ωr。
1) method of rotor-position discretization
This patent passes through the optimization method of rotor-position discretization, with permanent magnet synchronous wind generator in synchronously rotating reference frame System is lower to carry out the derivation of equation and deformation, u for basic mathematic modeld, uqAnd id, iqRespectively stator voltage, electric current dq axis point Amount, Ld, LqFor the stator inductance of PMSG, ed、eqFor dq axis counter electromotive force, RsIt is the stator resistance of PMSG.ωrTurn for rotor Speed, ψfFor rotor flux.Obtain dq axis and permanent magnet synchronous wind generator counter electromotive force ed、eqBetween relationship.
By setting k as sampling time interval, TsFor the sampling time.The counter electromotive force calculation formula of discretization are as follows:
By e mentioned hereinaboved≈Δφr, we are by obtained Δ φrCarry out discretization.Purpose is by a certain moment Rotor-position be separated into the set of limited location information.To make rotor-position discretization that two nestings will be used to recycle, two A nested iterations circulation is respectively i (i ∈ [0,7]) and j (j ∈ [0,7]).It changes every time by 8 iteration at every sampling moment For 8 rotor position informations out, 64 rotor position informations finally can be obtained.iαβ[k],uαβ[k] is the sight of stator side voltage and current Measured value, φin,i[k] is the initial position of rotor angle of definition, Δ φi[k] is iteration step length.
φri,j[k]=φin,i[k]+(j-4)Δφi[k] (5)
Itd is proposed iterative position optimizing algorithm set forth below, when first sampling instant sliding mode observer extracts first instead Electromotive force ed1,0When, therewith by extracted ed1,0φ is converted into through cost functionr1,0, it is assumed that it is initial And gI, j[k] < gin[k].Start first time iteration i=0 according to formula (6),And bring formula (5) into, it will produce Raw eight discrete rotor-positionsUtilize these rotor-positions φRi, j [k] calculates the counter electromotive force e of d axis component again by sliding mode observerdi,j[k] obtains anti-electricity using cost function optimization Kinetic potential ed1,2, rotor-position φ can be obtainedin,1[k] continues through iteration, and so on.Eventually pass through 8 iteration, each iteration 8 rotor position informations are obtained, i.e., have found best rotor position angle φ in 64 location informationsr,opt[k].Assuming that from first The secondary position iterated to calculate out isFor second of iteration of outer circulation, have i=1 andIt brings into again Formula (5) will generate 8 new rotor-positions.Therefore, increased based on the precision of iterative algorithm as the number of iterations increases, most Optimal rotor-position is converged at last.Assuming that n is the number of iterations, the i ∈ [0,7] selected by us herein, therefore pass through 8 After secondary iteration (i.e. when i=7), it will with the Accuracy extimate rotor position information of 0.003rad.The iterative position optimizing proposed The rotor-position precision of phaselocked loop estimation is higher.
2) design of anti-electronic cost function
The purpose of counter electromotive force cost function is that limited location information is carried out optimizing.Believed using discrete rotor-position Breath can calculate the d axis component e of counter electromotive force again by sliding mode observer using formula (3)di,j, will be by counter electromotive force cost Function optimizing.It is compared by multiple counter electromotive force, obtains cost function optimal value gopt.Thus counter electromotive force cost is formulated Function is optimal speed considerations item Δ ω in order to obtainr, it is equivalent to find optimal turn in a limited number of rotor-position Sub- position.Optimal rotor position is selected using the cost function of the form in the iterative position optimizing phaselocked loop proposed It sets.gi,jΔ ω can be converted for 64 Jing Guo iterationrCompensation term, thus we are equivalent to do 64 in a sampling instant Secondary PI adjusting.Using counter electromotive force cost function, the g that will be obtainedoptIt is converted into compensation term Δ ωr, Δ ωrFor based on FPS- The best Δ ω of PLL algorithmr。
gopt=min { g1,0[k], g1,1[k]Lg7,7[k]} (9)。

Claims (5)

1. a kind of rotor position estimate method of permanent magnet direct-driving aerogenerator, it is characterised in that: this method sits synchronous rotary Permanent magnet synchronous wind generator mathematical model deformation under mark system, obtains in the unit time in Fixed Time Interval and sampling time Counter electromotive force, prepare for its subsequent discretization；By rotor field-oriented mode by dq axis counter electromotive force edIt is equivalent to The reason of error occurs in permanent magnet wind power generator rotor location estimation, and existing rank are analyzed in rotor-position initial error angle The reason of section rotor position estimate method error occurs, finds the compensation variable Δ ω for eliminating errorr；Design iteration function, will Position compensation value Δ φrDiscretization, the process replace the PI tuning process of synchronous reference coordinate system phaselocked loop, pass through successive ignition So that the true rotor-position of estimated location infinite tendency；By the way that iteration 8 times acquirements while guaranteeing estimating speed are calculated Higher position estimation accuracy；Cost function is designed, by the offset Δ φ of discretizationrOptimizing is scanned for, finally repeatedly at 8 times Optimal estimated location is extracted in 64 estimation rotor position angles in generation.
2. a kind of rotor position estimate method of permanent magnet direct-driving aerogenerator according to claim 1, it is characterised in that: Permanent magnet synchronous wind generator is connected with pusher side total power back-to-back type current transformer, connects through DC bus with grid side current transformer Power grid, generator-side converter wear for realizing permanent magnet synchronous wind generator maximal power tracing；Pass through sampled voltage uαβAnd electric current iαβDq shaft voltage and electric current are obtained by coordinate transform, counter electromotive force is calculated by sliding mode observer, is estimated by IPS-PLL method Metering rotating speed；Pass through ωr=npωmIt will estimate revolving speedIt is converted into actual machine speed omegam；Then torque reference is calculatedWherein constant kpIt is maximal wind-energy capture coefficient；By adjusting d axis and the q shaft current composition control circuit of PMSG, d Axis reference current id,refIt is set as 0, q shaft current i is calculated using torque referenceq,ref, the actual value and reference value of d axis and q axis Between error handled by PI controller, generate dq axis reference voltage ud,ref、uq,ref。
3. a kind of rotor position estimate method of permanent magnet direct-driving aerogenerator according to claim 1 or 2, feature exist In: the method for iterative position optimizing are as follows: extract voltage, electric current through changes in coordinates and obtain dq shaft voltage, electric current: ud、uq、iα、iβ, D axis counter electromotive force e is obtained with dq shaft voltage current signald, define φrWithRespectively practical and estimation rotor position angle, turns Sub- magnetic linkage ψfIt should be aligned with d axis, φrWithBetween initial error be Δ φr；ΔφrWhen smaller, it is believed that ed≈Δφr；Pass through SMO observes counter electromotive force d axis component, to initial error Δ φrIt compensates；It will be with counter electromotive force edΔ φ of equal valuerCarry out from Dispersion obtains multiple and different initial error Δ φ in a time intervalr, will be first followed by designed cost function The lesser Δ φ of beginning errorrIt filters out, obtains the optimal compensation value of the secondary iteration.
4. a kind of rotor position estimate method of permanent magnet direct-driving aerogenerator according to claim 3, it is characterised in that: By the discrete limited rotor out of the rotor-position of permanent magnet synchronous wind generator in a sampling instant by way of iteration The set of position provides multiple back-emf signals in a sampling instant for counter electromotive force cost function, optimal to obtain Speed considerations item Δ ωr；
1) method of rotor-position discretization
It is basic under synchronous rotating frame with permanent magnet synchronous wind generator by the optimization method of rotor-position discretization Mathematical model carries out the derivation of equation and deformation, ud, uqAnd id, iqRespectively stator voltage, the dq axis component of electric current, Ld, LqFor The stator inductance of PMSG, ed、eqFor dq axis counter electromotive force, RsIt is the stator resistance of PMSG；ωrFor rotor revolving speed, ψfTo turn Sub- magnetic linkage；Obtain dq axis and permanent magnet synchronous wind generator counter electromotive force ed、eqBetween relationship；
By setting k as sampling time interval, TsFor the sampling time；The counter electromotive force calculation formula of discretization are as follows:
By e mentioned hereinaboved≈Δφr, we are by obtained Δ φrCarry out discretization；To make rotor-position discretization will Using two nested circulations, two nested iterations circulations are respectively i (i ∈ [0,7]) and j (j ∈ [0,7])；In each sampling It carves and goes out 8 rotor position informations by 8 each iteration of iteration, finally obtain 64 rotor position informations；iαβ[k],uαβ[k] For stator side voltage and current observation, φin,i[k] is the initial position of rotor angle of definition, Δ φi[k] is iteration step length；
φri,j[k]=φin,i[k]+(j-4)Δφi[k] (5)
2) design of anti-electronic cost function
Using discrete rotor position information, the d axis component of counter electromotive force is calculated using formula (3) again by sliding mode observer edi,j, will be by counter electromotive force cost function optimizing；It is compared by multiple counter electromotive force, obtains cost function optimal value gopt； Thus formulating counter electromotive force cost function is optimal speed considerations item Δ ω in order to obtainr, it is equivalent at a limited number of turn Optimal rotor-position is found in sub- position；The cost function of the form is used in the iterative position optimizing phaselocked loop proposed To select optimal rotor-position；gi,jΔ ω can be converted for 64 Jing Guo iterationrCompensation term, be equivalent to one sample Moment has done 64 PI adjustings；Using counter electromotive force cost function, the g that will be obtainedoptIt is converted into compensation term Δ ωr, Δ ωrFor Best Δ ω based on FPS-PLL algorithmr；
gopt=min { g1,0[k], g1,1[k]Lg7,7[k]}(9)。
5. a kind of rotor position estimate method of permanent magnet direct-driving aerogenerator according to claim 4, it is characterised in that: 1) in step, iterative position optimizing algorithm, when first sampling instant sliding mode observer extracts first counter electromotive force ed1,0When, Therewith by extracted ed1,0φ is converted into through cost functionr1,0, it is assumed that it is initialAnd gI, j[k] < gin[k]；Start first time iteration i=0 according to formula (6),And bring formula (5) into, it will generate eight it is discrete Rotor-position Utilize these rotor-positions φRi, j[k] again by The counter electromotive force e of sliding mode observer calculating d axis componentdi,j[k] obtains counter electromotive force e using cost function optimizationd1,2, obtain To rotor-position φin,1[k] continues through iteration, and so on；8 iteration are eventually passed through, each iteration obtains 8 rotor positions Confidence breath, i.e., have found best rotor position angle φ in 64 location informationsr,opt[k]；If iterated to calculate out from for the first time Position beFor second of iteration of outer circulation, have i=1 andrad；It brings formula (5) into again, will generate 8 new rotor-positions, therefore as the increase iteration precision of the number of iterations is also increasing, as n=8, location error will be small In 0.003rad, iteration precision is expressed as；
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CN111835241A (en) * 2019-04-12 2020-10-27 斯沃奇集团研究及开发有限公司 Method and system for determining errors and correcting angular position of a continuous rotating electrical machine
CN112019108A (en) * 2020-08-27 2020-12-01 沈阳工业大学 Harmonic injection-based torque ripple suppression method for permanent magnet synchronous generator
CN113067519A (en) * 2021-03-02 2021-07-02 南京理工大学 Residual error-based control method for injection-free self-adaptive permanent magnet motor without position sensor
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CN116667726A (en) * 2023-04-28 2023-08-29 浙江大学先进电气装备创新中心 N-component-based method for rapidly estimating rotor position of permanent magnet motor
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