CN109379012A - A kind of low speed segment of permanent magnet synchronous machine method for controlling position-less sensor of no high frequency electrocardiography - Google Patents
A kind of low speed segment of permanent magnet synchronous machine method for controlling position-less sensor of no high frequency electrocardiography Download PDFInfo
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- CN109379012A CN109379012A CN201811188806.2A CN201811188806A CN109379012A CN 109379012 A CN109379012 A CN 109379012A CN 201811188806 A CN201811188806 A CN 201811188806A CN 109379012 A CN109379012 A CN 109379012A
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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
- H02P21/04—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for very low speeds
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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
- H02P21/24—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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
A kind of low speed segment of permanent magnet synchronous machine method for controlling position-less sensor of no high frequency electrocardiography, using a kind of asymmetric space vector width pulse modulation method, target vector is synthesized by 1 zero vector of effective voltage vector sum of 3 mutual deviations, 120 degree of electrical angles, make system when low modulation area even exports target voltage vector zero, 3 effective vector action times are not zero and sufficiently large, to guarantee to detect that the lower phase current of effective voltage vector effect changes；Then using the saliency principle of inductance is based on, the current change quantity under 3 effective voltage vector sums, 1 zero vector is calculated separately, and estimate rotor-position from these current change quantities comprising location information.The present invention can realize low speed segment position Sensorless Control in the case where no high frequency electrocardiography.
Description
Technical field
The invention belongs to permanent magnet synchronous motor control field, in particular to a kind of low speed segment of permanent magnet synchronous motor is without position
Sensor control method.
Background technique
Permanent magnet synchronous motor (Permanent Magnet Synchronous Machine, PMSM), function high-efficient with its
The advantages that rate density is big and speed-regulating range width, is used widely in fields such as rail traffic, robot, household motors.PMSM
Position Sensorless Control makes system have at low cost, small in size, failure rate is low etc. because that eliminates position or velocity sensors
Advantage, so as to cause the extensive concern of experts and scholars and industry.
Conventional permanent magnet synchronous motor low speed segment position Sensorless Control needs to inject high-frequency signal, and excitation motor inductances are convex
Pole characteristic, obtains rotor position information from high-frequency current.But the high-frequency signal of injection will increase torque pulsation, increase electricity
Magnetic noise, reduction efficiency etc., therefore reduce injection high-frequency signal amplitude or high frequency electrocardiography is avoided to become low speed segment without position
The difficult point of sensor control.In existing document, space vector pulse width modulation (Space vector pulse width is utilized
Modulation, SVPWM) itself effective voltage vector, and curent change under effective vector is calculated, to obtain rotor position
It sets.But so there are limitations for this method times, in low modulation area, effective vector action time is too short, can not detect curent change.
Therefore, it is necessary to carry out phase shift to SVPWM, however phase shift is equivalent to and is filled with high frequency voltage pulse, still remains high-frequency signal note
The shortcomings that entering method itself.
Summary of the invention
In order to overcome high frequency electrocardiography method itself, the control of existing permanent magnet synchronous motor method for controlling position-less sensor
The deficiency of inferior quality processed, the present invention provide a kind of PMSM low speed segment position Sensorless Control side of no high frequency electrocardiography
Method improves the quality of position Sensorless Control.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of low speed segment of permanent magnet synchronous machine method for controlling position-less sensor of no high frequency electrocardiography, including following step
It is rapid:
1) asymmetric SVPWM modulation, process are as follows:
Asymmetric SVPWM method is only with three in six effective voltage vectors (two level PWM voltage source inverters)
A vectorWith an additional zero vectorTo target voltage vectorIt is modulated, at this point, target voltage vector representation is as follows.
According to the weber principle of equal effects, obtain
In formula,Formula (2) is organized into matrix form, and solves
In formula,By formula (3) it is found that for known
uα、uβAnd zero vectorWith time t0, three effective voltage vector action times can be solved；
Work as t0≠ 0, zero vector is splitted into the head and tail that two equal parts are inserted into a PWM cycle respectively, then the monocycle contains five sections
Level, i.e.,By asymmetric SVPWM modulation system, zero target voltage vector may be implemented, non-zero is effective
Voltage vector output, and t is set0Meet the minimum current sampling time, guarantees to can detecte the current slope under zero vector, from
And meet the requirement of subsequent low speed segment location-estimation algorithm；
2) based on the low speed segment single period position estimation of asymmetric SVPWM modulation, process is as follows:
Firstly, establishing permanent magnet synchronous motor mathematical model under dq coordinate system and being
In formula, For d, q shaft voltage,
Ld、LqFor d, q axle inductance, ψpmFor permanent magnet flux linkage amplitude；
Formula (4) is transformed into α β coordinate system, obtains mathematical model and discretization under α β coordinate system；
In formula, TsFor discrete periodic；
Formula (5) arrange
In formula,
In formula,For admittance matrix,
By asymmetric SVPWM it is found that there are four vectors within the monocycle, it is respectivelyAction time
It is t respectively0、t4、t2、t1；It is now assumed that revolving speed and electric current are basically unchanged in the monocycle, by effective voltage vector sum zero vector and its
Action time substitutes into formula (6), and subtracts each other
In formula, γxForWith the angle of α axis, x=0,1,2,4, relationship between each variable is indicated in order to apparent, with α axis
For real axis, β axis is the imaginary axis, and formula (8) is expressed as complex variable form, wherein Substitution formula (8)
Then, it by carrying out rotation transformation to formula (9)~(11), obtains
It obtains rotor-position and estimates revolving speed.
Further, rotor-position is obtained using arctan function, obtains rotor-position by formula (7), (12)
In formula, Im and Re function seeks the imaginary part and real part of complex vector respectively, rightIt differentiates, that is, obtains estimation revolving speed
Either: obtaining estimated location by the way of phase-locked loop pll, and obtain estimation revolving speed, process simultaneously are as follows:
PLL is inputted first, i.e., formula (12) carries out marking change, obtains
Then location information is demodulated, obtains the input of PLL are as follows:
In formula,For PLL estimated location, work as ePLLWhen=0, PLL will restrain at this time, while can obtainPosition simultaneously
Integrator input is estimation revolving speed.
Beneficial effects of the present invention are mainly manifested in: replacing tradition SVPWM to modulate using asymmetric SVPWM method
Method, and it is inserted into zero vector in asymmetric SVPWM modulation, it, not only can be with due to zero vector moment driver Non voltage output
It reduces system loss, improve efficiency.The time for guaranteeing current sample simultaneously eliminates resistance using the curent change under zero vector
Influence with counter electromotive force to location estimation improves position estimation accuracy.
Detailed description of the invention
Fig. 1 is the structural block diagram of the asymmetric SVPWM modulation position Sensorless Control strategy of the present invention；
Fig. 2 is asymmetric SVPWM modulation principle figure of the invention；
Fig. 3 is theory deduction coordinate system and each position angle schematic diagram of the invention；
Fig. 4 is the present invention single periodic current waveform diagram under asymmetric SVPWM modulation；
Fig. 5 is analogous diagram of the present invention.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
Referring to Fig.1~Fig. 5, a kind of low speed segment of permanent magnet synchronous machine position Sensorless Control side of no high frequency electrocardiography
Method, each switch periods of position Sensorless Control strategy based on asymmetric SVPWM acquire five stator phase currents and pass through
Clarke coordinate transform obtains electric current under α β two-phase stationary coordinate system, and using the location estimation modulated based on asymmetric SVPWM
Algorithm obtains the error amount of location information, finally is tracked to obtain revolving speed and integrate to error using PLL to obtain angle value.
Referring to Fig. 2, conventional symmetric SVPWM technology utilizes the two neighboring effective voltage vector sum null vector of target voltage vector
AmountWithIt is synthesized.Therefore, short in low modulation area effective voltage vector action time, it can not
Meet the requirement of electric current minimal sampling time, electric current minimal sampling time is defined as Tdelay,min
Tdelay,min=Tdead+Ttrans+Ton-Toff (16)
In formula, TdeadFor dead time, TtransStablize time, T for pwm signal transmission and current oscillationonFor service time,
ToffFor the turn-off time.It follows that effective voltage vector action time is greater than Tdelay,min, and to stay the enough sufficiently long time
TsampleFor sampling the variation delta of phase currenti。
The modulation system of asymmetric SVPWM, using three effective voltage vectors And zero vectorTo target voltage vectorIt is modulated, hereinafter referred to as mode one.It can certainly
Utilize the other three effective voltage vectorAnd zero vectorBelow
Referred to as mode two.
For the moment using mode, target voltage vector can be expressed as follows:
In formula, txFor voltage vectorAction time, tx=0,1 ..., 7.Work as target vectorAssuming that enabling t0=
0, then t at this time4=t2=t1=TPWM/ 3, it follows that still remaining three effective voltage arrows even if target voltage vector is zero
Amount, and action time TPWM/ 3 long enoughs.
According to the weber principle of equal effects, obtain
In formula,Formula (2) is organized into matrix form, and solves
By formula (3) it is found that for known uα、 uβ, and
Zero vectorAction time t0, three effective voltage vector action times can be solved.
For mode one, work as t0≠ 0, zero vector is splitted into the head and tail that two equal parts are inserted into 1 PWM cycle respectively, then it is single
Period contains five sections of level, i.e.,
By asymmetric SVPWM modulation system, zero target voltage vector may be implemented, non-zero effective voltage vector exports,
And t is set0> Tdelay,min, guarantee to can detecte the current slope under zero vector, to meet subsequent low speed segment location estimation
The requirement of algorithm.
Referring to Fig. 3, firstly, establishing permanent magnet synchronous motor mathematical model under dq coordinate system are as follows:
In formula, For d, q shaft voltage,
Ld、LqFor d, q axle inductance, ψpmFor permanent magnet flux linkage amplitude.
Formula (4) is transformed into α β coordinate system, obtains mathematical model and discretization under α β coordinate system.
In formula, TsFor discrete periodic.
Formula (5) arrange
In formula,
In formula,For admittance matrix,
By asymmetric SVPWM it is found that there are four vectors within the monocycle, it is respectivelyAction time point
It is not t0、t4、t2、t1.It is now assumed that revolving speed and electric current are basically unchanged in the monocycle, by effective voltage vector sum zero vector and its work
Formula (6) are substituted into the time, and are subtracted each other
In formula, γxForWith the angle of α axis, x=0,1,2,4, relationship between each variable is indicated in order to apparent, with α axis
For real axis, β axis is the imaginary axis, and formula (8) is expressed as complex variable form, wherein (8) are substituted into obtain
Then, it by carrying out rotation transformation to formula (9)~(11), obtains
Finally rotor-position is obtained by formula (7), (12)
In formula, Im and Re seek the imaginary part and real part of complex vector respectively.
Similarly, location information is obtained using the mode of PLL, is implemented as follows:
PLL is inputted first, i.e., formula (12) carries out marking change, obtains
Then location information is demodulated, obtains the input of PLL are as follows:
In formula,For PLL estimated location, work as ePLLWhen=0, PLL will restrain at this time, while can obtainPosition product simultaneously
Dividing device input terminal is estimation revolving speed.By the way that PLL bandwidth is rationally arranged, it can not only guarantee the dynamic of system position estimation
Can, simultaneously because the filtering characteristic of PLL, improves position estimation accuracy.
Propose the lab diagram of asymmetric SVPWM herein by addition referring to Fig. 4.Fig. 4 is followed successively by PWMA (upper bridge from top to bottom
Arm signal, small bridge arm is complementary containing dead zone, similarly hereinafter), PWMB, PWMC and A phase current.According to the experimental results, designed by the present invention
Asymmetric SVPWM shares 4 vectors, includes three effective vectorsWith a zero vectorPhase current is in different electricity
It presses under vector effect, electric current changes according to certain rule.The slope of phase current variation is closely related with rotor-position, this can be used
The low speed segment single period position algorithm for estimating based on asymmetric SVPWM modulation of Wen Suoti carries out location estimation.
Be the simulation result of the mentioned location estimation strategy of the present invention referring to Fig. 5, by using asymmetric SVPWM modulation with
Based on the low speed segment single period position algorithm for estimating of asymmetric SVPWM modulation, the speed control of PMSM high dynamic performance may be implemented
System.PMSM parameter setting in emulation are as follows: 1.3 Ω of stator resistance, d axle inductance 1.85mH, q axle inductance 2.45mH, magnetic linkage are
0.1V/rad/s, rotary inertia 0.0005kg.m2.Simulated conditions: impact 1N.m is loaded when 0.2s, when 0.5s given rotating speed by
600r/min step extremely -600r/min, 0.7 s load torque anticlimax to -1Nm.Fig. 5 is followed successively by location estimation performance from top to bottom
(location estimation and absolute fix), speed tracing performance (speed preset and actual measurement speed), threephase stator electric current and torque response
Performance (load torque and electromagnetic torque).By simulation result it is found that either sudden unloading process load and Velocity Step Technique change, this
The mentioned location estimation strategy location estimation steady-state error of text is small, and speed tracing is had excellent performance, and can be adapted for high dynamic performance
PMSM position Sensorless Control application.
Claims (3)
1. a kind of low speed segment of permanent magnet synchronous machine method for controlling position-less sensor of no high frequency electrocardiography, which is characterized in that
It the described method comprises the following steps:
1) asymmetric SVPWM modulation, process are as follows:
Asymmetric SVPWM method is only with three vectors in six effective voltage vectors With an additional zero vectorTo target voltage vectorIt is modulated, this
When, target voltage vector representation is as follows:
According to the weber principle of equal effects, obtain
In formula,Formula (2) is organized into matrix form, and solves
In formula,By formula (3) it is found that for known uα、uβ,
And zero vectorAction time t0, three effective voltage vector action times can be solved；
Work as t0≠ 0, zero vector is splitted into the head and tail that two equal parts are inserted into a PWM cycle respectively, then the monocycle contains five sections of level,
I.e.By asymmetric SVPWM modulation system, zero target voltage vector, non-zero effective voltage may be implemented
Vector output, and t is set0Meet the minimum current sampling time, guarantee to can detecte the current slope under zero vector, thus full
The requirement of the subsequent low speed segment location-estimation algorithm of foot；
2) based on the low speed segment single period position estimation of asymmetric SVPWM modulation, process is as follows:
Firstly, establishing permanent magnet synchronous motor mathematical model under dq coordinate system and being
In formula, For d, q shaft voltage, Ld、Lq
For d, q axle inductance, ψpmFor permanent magnet flux linkage amplitude；
Formula (4) is transformed into α β coordinate system, obtains mathematical model and discretization under α β coordinate system；
In formula, TsFor discrete periodic；
Formula (5) arrange
In formula,
In formula,For admittance matrix,
By asymmetric SVPWM it is found that there are four vectors within the monocycle, it is respectivelyAction time difference
It is t0、t4、t2、t1；It is now assumed that revolving speed and electric current are basically unchanged in the monocycle, by effective voltage vector sum zero vector and its effect
Time substitutes into formula (6), and subtracts each other
In formula, γxForWith the angle of α axis, x=0,1,2,4, indicate relationship between each variable in order to apparent, be real with α axis
Axis, β axis are the imaginary axis, and formula (8) is expressed as complex variable form, wherein Substitution formula (8)
Then, it by carrying out rotation transformation to formula (9)~(11), obtains
It obtains rotor-position and estimates revolving speed.
2. a kind of low speed segment of permanent magnet synchronous machine position Sensorless Control of no high frequency electrocardiography as described in claim 1
Method, which is characterized in that rotor-position is obtained using arctan function, obtains rotor-position by formula (7), (12)
In formula, Im and Re function seeks the imaginary part and real part of complex vector respectively, rightIt differentiates, that is, obtains estimation revolving speed
3. a kind of low speed segment of permanent magnet synchronous machine position Sensorless Control of no high frequency electrocardiography as described in claim 1
Method, which is characterized in that obtain estimated location by the way of phase-locked loop pll, and obtain estimation revolving speed, process simultaneously
Are as follows:
PLL is inputted first, i.e., formula (12) carries out marking change, obtains
Then location information is demodulated, obtains the input of PLL are as follows:
In formula,For PLL estimated location, work as ePLLWhen=0, PLL will restrain at this time, while can obtainPosition integrator simultaneously
Input terminal is estimation revolving speed.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112671295A (en) * | 2020-11-30 | 2021-04-16 | 西北工业大学 | Rotor initial position detection method and system based on motor common-mode current |
| CN115549539A (en) * | 2022-10-31 | 2022-12-30 | 佛山市尼博微电子有限公司 | Method and system for optimizing electromagnetic performance of motor |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112671295A (en) * | 2020-11-30 | 2021-04-16 | 西北工业大学 | Rotor initial position detection method and system based on motor common-mode current |
| CN115549539A (en) * | 2022-10-31 | 2022-12-30 | 佛山市尼博微电子有限公司 | Method and system for optimizing electromagnetic performance of motor |
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