CN109391209A - Line inductance electromotor senseless control strategy suitable for middle low speed magnetic suspension - Google Patents
Line inductance electromotor senseless control strategy suitable for middle low speed magnetic suspension 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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/06—Linear motors
- H02P25/062—Linear motors of the induction type
Abstract
The present invention discloses a kind of line inductance electromotor senseless control strategy suitable for middle low speed magnetic suspension, and according to the counter electromotive force model of line inductance electromotor, the velocity estimation of line inductance electromotor is realized using the speed estimation schemes based on FLL；Consider influence of the speed estimation schemes vulnerable to harmonic wave and Parameters variation, is used inαβThe prefilter of CDSC realizes the harmonic filtration of secondary back-emf signal；Then, it is normalized using amplitude to secondary back-emf signalα、βComponent is handled, and is being realized that secondary back-emf signal amplitude is normalized simultaneously, is also being eliminated Parameters variation to the adverse effect of speed estimation schemes；Finally, realizing the harmonic filtration of estimating speed, using a second order filter to promote the performance of velocity estimation.The present invention can effectively reduce influence of the parameter of electric machine variation to velocity estimation performance, compensate for the technical problems such as control structure in existing linear pulling motor speed estimation method is complicated, and sensitivity to parameter is high, and computation burden is heavy.
Description
Technical field
The present invention relates to electric traction alternating-current transmission technical field, specially a kind of straight line suitable for middle low speed magnetic suspension
Induction machine senseless control strategy.
Background technique
Currently, the traffic standard as application potential great in urban track traffic, by linear pulling motor driving
Low speed magnetic suspension train has more superior performance in the influence of speed, reliability, stability and environment, is new generation of city
The suitable selection of Rail Transit System.However, carrying out speed using mechanical speed sensors in medium-and low-speed maglev train operation
Degree detection can significantly reduce drive system reliability, can increase system reliability using Speed sensorless control technology, reduce system
System cost, and can apply in the adverse circumstances occasion such as high temperature, high humidity.
Generally, senseless control technology can be roughly divided into two classes: (1) speed based on motor non-ideal characteristic is estimated
Meter scheme and the speed estimation schemes of (2) based on model.Compared to traditional rotating electric machine, linear pulling motor is cut-off due to it
Structure and biggish air gap are hardly resulted in based on the speed estimation schemes of non-ideal characteristic in linear pulling motor drive system
Using.
Currently, the senseless control system for being suitable for line inductance electromotor is concentrated mainly on based on linear induction
The speed estimation schemes of machine model, but the existing speed estimation schemes based on line inductance electromotor model are primarily present speed and estimate
The problems such as meter is limited in scope, and sensitivity to parameter is high, and computation burden is heavy, and tuner parameters are more, is unable to satisfy for middle low speed magnetcisuspension
The requirement of floating line inductance electromotor senseless control system.
Summary of the invention
In view of the above-mentioned problems, the purpose of the present invention is to provide a kind of line inductance electromotors suitable for middle low speed magnetic suspension
Senseless control strategy makes up existing straight line traction to reduce influence of the parameter of electric machine variation to velocity estimation performance
The technical problems such as control structure is complicated in motor speed estimation method, and sensitivity to parameter is high, and computation burden is heavy.Technical solution is such as
Under:
A kind of line inductance electromotor senseless control strategy suitable for middle low speed magnetic suspension, which is characterized in that
The following steps are included:
Step 1: establishing linear pulling motor vector control system, secondary is obtained according to the voltage model of linear pulling motor
α, β component of back-emf signal；The frequency of secondary counter electromotive force is calculated according to α, β component of secondary back-emf signal:
Step 2: realize that the low-order harmonic of secondary back-emf signal filters out first with the prefilter based on α β CDSC,
Obtain the sinusoidal signal of secondary counter electromotive force；
Step 3: recycling amplitude normalization to realize the unit amplitude of secondary back-emf signal, to reduce Parameters variation pair
Spend the adverse effect of algorithm for estimating；
Step 4: calculating the estimating speed of linear pulling motor senseless control system；
Step 5: obtained estimating speed being filtered using second order output filter, with harmonic carcellation to speed
The interference of degree estimation performance；
Step 6: resulting estimating speed being input to linear pulling motor vector control system, carries out following model meter
It calculates；The primary voltage vector sum primary current vector of linear pulling motor is input to speed estimation algorithms, realizes straight line traction
The operation of motor trailer system Speedless sensor.
Further, the step 1 specifically includes:
The voltage model of linear pulling motor are as follows:
In formula: ΨsAnd ΨrThe respectively primary magnetic linkage vector sum secondary flux linkage vector of linear pulling motor, usAnd isRespectively
For the primary voltage vector sum primary current vector of linear pulling motor, Lm′、Ls′、Lr', σ ' respectively represent consider dynamic side end
Magnetizing inductance, primary inductance, secondary inductance and the magnetic leakage factor of linear pulling motor after effect；RsFor linear pulling motor
Primary resistance；
And have:
Ψs=[Ψsα Ψsβ]TΨr=[Ψrα Ψrβ]T us=[usα usβ]T is=[isα isβ]T
In formula, ΨsαAnd ΨsβRespectively α, β component of linear pulling motor primary flux linkage vector；ΨrαAnd ΨrβRespectively
α, β component of linear pulling motor secondary flux linkage vector；usαAnd usβRespectively α, β of linear pulling motor primary voltage vector
Component；isαAnd isβRespectively α, β component of linear pulling motor primary current vector；
It is further obtained by the voltage model of linear pulling motor:
In formula: p is differential operator, esAnd erThe secondary anti-electricity of the primary counter electromotive force vector sum of respectively linear pulling motor
Kinetic potential vector, and have:
es=[esα esβ]T er=[erα erβ]T
Formula (2) is simplified, is obtained:
If secondary back-emf signal are as follows:
In formula (3): erαAnd erβRespectively secondary counter electromotive force erα, β component, ω andRespectively secondary counter electromotive force
The frequency and first phase of signal；
Formula (4) is carried out taking differential, then is had:
In formula: p is differential operator
It can be obtained by formula (5), the frequency of secondary back-emf signal are as follows:
In formula: perαAnd perβThe respectively secondary α axis component of counter electromotive force and the differential of beta -axis component.
The beneficial effects of the present invention are:
1) present invention is had using the speed estimation schemes based on α β CDSC-FLL when linear motor runs different operating conditions
Good velocity estimation performance；In addition, the program can effectively reduce influence of the parameter of electric machine variation to velocity estimation performance；
2) present invention replaces traditional ginseng with amplitude normalization using prefilter aiming at the problem that parameter of electric machine variation
Number on-line identification, not only simplifies Control system architecture, and avoid the occurrence of additional computation burden；
3) present invention has good adaptability for different operating conditions, will not lead to algorithm because load level changes
Additional adjustment, has good versatility；Real-time is good simultaneously, can satisfy line inductance electromotor senseless control system
The requirement of velocity estimation in system；
4) transplantability of speed estimation algorithms of the present invention is stronger, in other motor driven systems, is related to speed sensorless
The algorithm also can be used in the algorithm of device control, there is extremely strong versatility.
Detailed description of the invention
Fig. 1 is the Frequency Estimation functional block diagram in the speed estimation method that the present invention is realized.
Fig. 2 is the frequency locking ring that operator is eliminated based on cascade α β coordinate system postpones signal that the present invention is realized
(frequency-locked loop withαβ-frame cascaded delayed signal cancelation
Operator, α β CDSC-FLL) speed estimation method schematic diagram.
Fig. 3 is the structural block diagram of the prefilter for the speed estimation method that the present invention is realized.
Fig. 4 is by the secondary back-emf signal performance comparison before and after prefilter and amplitude normalized.
Fig. 5 is done under MATLAB/Simulink environment based on linear pulling motor velocity estimation emulation mode of the present invention
Constant tractive force (the F of embodiment outl=1000N) under operating condition in simulation result speed true value and identifier waveform diagram.
Fig. 6 is to be based on linear pulling motor velocity estimation emulation mode of the present invention under MATLAB/Simulink environment
Constant tractive force (the F for the embodiment madel=1000N) under operating condition in simulation result speed estimation error waveform diagram.
Fig. 7 is done under MATLAB/Simulink environment based on linear pulling motor velocity estimation emulation mode of the present invention
Embodiment out tractive force mutation (at the 8th second, FlBy 1000N → 2000N；At the 12nd second, FlBy 2000N → 3000N) operating condition
The waveform diagram of speed true value and identifier in lower simulation result.
Fig. 8 is done under MATLAB/Simulink environment based on linear pulling motor velocity estimation emulation mode of the present invention
Embodiment out tractive force mutation (at the 8th second, FlBy 1000N → 2000N；At the 12nd second, FlBy 2000N → 3000N) operating condition
The waveform diagram of speed estimation error in lower simulation result.
Fig. 9 is done under MATLAB/Simulink environment based on linear pulling motor velocity estimation emulation mode of the present invention
Embodiment out primary sudden change of resistivity (at the 8th second, RsBy the Ω of 0.15 Ω → 0.165；At the 12nd second, RsBy 0.165 Ω →
0.18 Ω) under operating condition in simulation result speed true value and identifier waveform diagram.
Figure 10 is done under MATLAB/Simulink environment based on linear pulling motor velocity estimation emulation mode of the present invention
Embodiment out primary sudden change of resistivity (at the 8th second, RsBy the Ω of 0.15 Ω → 0.165；At the 12nd second, RsBy 0.165 Ω →
0.18 Ω) under operating condition in simulation result speed estimation error waveform diagram.
Figure 11 is done under MATLAB/Simulink environment based on linear pulling motor velocity estimation emulation mode of the present invention
Embodiment out primary sudden change of resistivity (at the 8th second, RsBy the Ω of 0.15 Ω → 0.135；At the 12nd second, RsBy 0.135 Ω →
0.12 Ω) under operating condition in simulation result speed true value and identifier waveform diagram.
Figure 12 is done under MATLAB/Simulink environment based on linear pulling motor velocity estimation emulation mode of the present invention
Embodiment out primary sudden change of resistivity (at the 8th second, RsBy the Ω of 0.15 Ω → 0.135；At the 12nd second, RsBy 0.135 Ω →
0.12 Ω) under operating condition in simulation result speed estimation error waveform diagram.
Figure 13 is done under MATLAB/Simulink environment based on linear pulling motor velocity estimation emulation mode of the present invention
Embodiment out magnetizing inductance mutation (at the 8th second, LmBy 3mH → 3.3mH；At the 12nd second, LmBy 3.3mH → 3.6mH) operating condition
The waveform diagram of speed true value and identifier in lower simulation result.
Figure 14 is done under MATLAB/Simulink environment based on linear pulling motor velocity estimation emulation mode of the present invention
Embodiment out magnetizing inductance mutation (at the 8th second, LmBy 3mH → 3.3mH；At the 12nd second, LmBy 3.3mH → 3.6mH) operating condition
The waveform diagram of speed estimation error in lower simulation result.
Figure 15 is done under MATLAB/Simulink environment based on linear pulling motor velocity estimation emulation mode of the present invention
Embodiment out magnetizing inductance mutation (at the 8th second, LmBy 3mH → 2.7mH；At the 12nd second, LmBy 2.7mH → 2.4mH) operating condition
The waveform diagram of speed true value and identifier in lower simulation result.
Figure 16 is done under MATLAB/Simulink environment based on linear pulling motor velocity estimation emulation mode of the present invention
Embodiment out magnetizing inductance mutation (at the 8th second, LmBy 3mH → 2.7mH；At the 12nd second, LmBy 2.7mH → 2.4mH) operating condition
The waveform diagram of speed estimation error in lower simulation result.
Specific embodiment
The present invention is described in further details in the following with reference to the drawings and specific embodiments.The frequency that the present invention is realized is estimated
Meter method is as shown in Figure 1, handle the differential term of secondary electromotive force using backward difference.Disappeared based on cascade α β coordinate system postpones signal
Except frequency locking ring (the frequency-locked loop with α β-frame cascaded delayed signal of operator
Cancelation operator, α β CDSC-FLL) speed estimation method schematic diagram as shown in Fig. 2, i.e. by nonideal solution theory
Secondary back-emf signal (secondary back-emf signal be non-pure string signal) be filtered, i.e., using based on cascade
The prefilter that α β coordinate system postpones signal eliminates operator filters out the low-order harmonic of secondary counter electromotive force, has obtained secondary anti-electricity
The sinusoidal signal of kinetic potential；In view of in related speed estimation schemes, secondary back-emf signal is necessary for unit amplitude
Sinusoidal signal carries out amplitude normalized to the secondary back-emf signal after harmonic wave is filtered out；It is defeated finally by a second order
Filter is filtered obtained estimating speed out, to reduce harmonic wave to the adverse effect of velocity estimation performance.?
Prefilter structure chart in the speed estimation method realized of the present invention as shown in figure 3, its can be regarded as an ideal low
Bandpass filter, for filtering out the low-order harmonic of secondary counter electromotive force.
Using the present invention, it can be achieved that the straight line of off-line simulation, online real-time simulation and hardware-in-loop simulation system draws electricity
Machine senseless control strategy, to be suitable for middle low speed magnetic suspension line inductance electromotor senseless control system,
And realize linear pulling motor in traction working condition, load balance factor power sudden load, primary resistance sudden load and excitation electricity
Feel the emulation of sudden load, and the senseless control strategy has velocity estimation functional, control structure is simple
The features such as, in addition, the program can effectively reduce influence of the parameter of electric machine variation to velocity estimation performance, compensate for existing straight line
The technical problems such as control structure is complicated in traction electric machine speed estimation method, and sensitivity to parameter is high, and computation burden is heavy.It is established
Speed estimation method be applicable to all be based on it is computer implemented to linear pulling motor senseless control system
The l-G simulation test of progress is studied, and may further be generalized to other motor Speed Sensorless Systems.
Particular technique means of the invention are as follows:
It eliminates and calculates using frequency locking ring (frequency-locked loop, SRF-FLL) and cascade α β coordinate system postpones signal
The speed that sub (α β-frame cascaded delayed signal cancelation operator, α β CDSC) is combined
Estimation scheme realizes the linear pulling motor senseless control for being suitable for middle low speed magnetic suspension.The following steps are included:
(1) frequency of secondary counter electromotive force is calculated according to α, β component of secondary back-emf signal:
The voltage model of linear pulling motor are as follows:
In formula (1): ΨsAnd ΨrThe respectively primary magnetic linkage vector sum secondary flux linkage vector of linear pulling motor, usAnd is
The respectively primary voltage vector sum primary current vector of linear pulling motor, and have:
Ψs=[Ψsα Ψsβ]TΨr=[Ψrα Ψrβ]T us=[usα usβ]T is=[isα isβ]T
Lm′、Ls′、Lr', σ ' respectively represent the magnetizing inductance of linear pulling motor after considering dynamic side-termind effect, primary
Inductance, secondary inductance and magnetic leakage factor；RsFor the primary resistance of linear pulling motor.
It can further be obtained by the voltage model of linear pulling motor:
In formula (2): p is differential operator, esAnd erThe primary counter electromotive force vector sum of respectively linear pulling motor is secondary anti-
Electromotive force vector, and have:
es=[esα esβ]T er=[erα erβ]T
Formula (2) is simplified, can be obtained:
If secondary back-emf signal are as follows:
In formula (3): erαAnd erβα, β component of respectively secondary counter electromotive force, ω andRespectively secondary counter electromotive force letter
Number frequency and first phase.
Formula (4) is carried out taking differential, then is had:
It can be obtained by formula (5), the frequency of secondary back-emf signal are as follows:
(2) pre-filtering and amplitude normalized are carried out to the frequency estimation schemes in (1), to reduce Parameters variation
And the adverse effect of harmonic wave, obtain accurate velocity estimation performance:
It is only unit amplitude, pure string signal when secondary back-emf signal is amplitude according to the analysis that (1) is saved
When, above-mentioned scheme just can be carried out accurate velocity estimation, it is therefore desirable to carry out centainly to the speed estimation schemes of (1) section
Processing.
The harmonic filtration of secondary back-emf signal is realized using the prefilter based on α β CDSC；Then, width is utilized
The unit amplitude of secondary back-emf signal is realized in value normalization, and reduces Parameters variation to the unfavorable of secondary back-emf signal
It influences；On this basis, the harmonic filtration that estimating speed is realized using a second order output filter, with harmonic carcellation to speed
The interference of estimation.
(3) (2) are counted into counted speed and is input to linear pulling motor vector control system, carry out following model meter
It calculates.By us、isSpeed estimation algorithms are output to, realize the operation of linear pulling motor trailer system Speedless sensor.
Embodiment:
The velocity estimation emulation mode of linear pulling motor Speed Sensorless System can be according to the described method of the present invention
It carries out:
(1) foundation of linear pulling motor vector control system
It is improved on the basis of traditional Vector Control System of Induction Motor model, obtains the vector control of linear pulling motor
Simulation；And to modulation module output pulse, DC voltage carry out processing and operation obtain three-phase voltage, transformed to
In alpha-beta coordinate system, input quantity is provided for velocity estimation system, to realize corresponding calculate.
(2) calculating of primary, secondary counter electromotive force
The current signal of voltage signal and feedback to reconstruct carries out operation and processing, according to formula (3), obtains straight line and leads
Draw electric motor primary, secondary counter electromotive force.
(3) foundation of prefilter
According to Fig. 3, the foundation of prefilter is completed, for filtering out the low-order harmonic of secondary counter electromotive force.
(4) normalized
According to Fig. 2, amplitude normalized is carried out to filtered secondary counter electromotive force α β component, to eliminate Parameters variation
Influence to speed estimation method.
(5) velocity estimation
According to formula (5) and formula (6), the velocity estimation of linear pulling motor senseless control system is realized.
(6) output filtering processing
Obtained estimating speed is filtered again using a second order output filter, is estimated with promoting speed
Count performance.
It is emulated based on above-mentioned model, linear pulling motor parameter are as follows: primary resistance Rs=0.15 Ω, secondary resistance Rr
=0.05 Ω, magnetizing inductance Lm=3mH, primary leakage inductance Lls=0.7mH, secondary leakage inductance Llr=0.5mH.System control parameters: straight
Stream side voltage is 1500V, and PWM switching frequency is 500Hz.Linear pulling motor Sensorless Speed is estimated in different operating conditions
Under velocity estimation simulation result as shown in Fig. 5-16 (Fig. 5 be linear pulling motor operate in constant load tractive force (Fl=
1000N) under operating condition speed true value and identifier waveform diagram；Fig. 6 is that linear pulling motor operates in constant load tractive force
(Fl=1000N) waveform diagram of speed estimation error under operating condition；Fig. 7 is that linear pulling motor operates in the mutation of load balance factor power
(at the 8th second, FlBy 1000N → 2000N；At the 12nd second, FlBy 2000N → 3000N) speed true value and identifier under operating condition
Waveform diagram；Fig. 8 be linear pulling motor operate in load balance factor power mutation (at the 8th second, FlBy 1000N → 2000N；12nd second
When, FlBy 2000N → 3000N) waveform diagram of speed estimation error under operating condition；Fig. 9 is that linear pulling motor operates in primary electrical
Resistance mutation (at the 8th second, RsBy the Ω of 0.15 Ω → 0.165；At the 12nd second, RsBy the Ω of 0.165 Ω → 0.18) speed is true under operating condition
The waveform diagram of value and identifier；Figure 10 be linear pulling motor operate in primary sudden change of resistivity (at the 8th second, RsBy 0.15 Ω →
0.165Ω；At the 12nd second, RsBy the Ω of 0.165 Ω → 0.18) waveform diagram of speed estimation error under operating condition；Figure 11 is that straight line is led
Draw motor operation primary sudden change of resistivity (at the 8th second, RsBy the Ω of 0.15 Ω → 0.135；At the 12nd second, RsBy 0.135 Ω →
0.12 Ω) waveform diagram of speed true value and identifier under operating condition；Figure 12 is that linear pulling motor operates in primary sudden change of resistivity
(at the 8th second, RsBy the Ω of 0.15 Ω → 0.135；At the 12nd second, RsBy the Ω of 0.135 Ω → 0.12) speed estimation error under operating condition
Waveform diagram；Figure 13 be linear pulling motor operate in magnetizing inductance mutation (at the 8th second, LmBy 3mH → 3.3mH；At the 12nd second, Lm
By 3.3mH → 3.6mH) waveform diagram of speed true value and identifier under operating condition；Figure 14 is that linear pulling motor operates in excitation
Inductance mutation (at the 8th second, LmBy 3mH → 3.3mH；At the 12nd second, LmBy 3.3mH → 3.6mH) speed estimation error under operating condition
Waveform diagram；Figure 15 be linear pulling motor operate in magnetizing inductance mutation (at the 8th second, LmBy 3mH → 2.7mH；At the 12nd second, Lm
By 2.7mH → 2.4mH) waveform diagram of speed true value and identifier under operating condition；Figure 16 is that linear pulling motor operates in excitation
Inductance mutation (at the 8th second, LmBy 3mH → 2.7mH；At the 12nd second, LmBy 2.7mH → 2.4mH) speed estimation error under operating condition
Waveform diagram).
The above is exactly one embodiment of the present invention, can be in MATLAB/Simulink based on this embodiment
The lower emulation for carrying out linear pulling motor Speed Sensorless System velocity estimation, can also be based on this embodiment
Linear pulling motor is carried out in dSPACE or RT-LAB etc. similar real-time simulator operates in the emulation under different operating conditions.
Claims (2)
1. a kind of line inductance electromotor senseless control strategy suitable for middle low speed magnetic suspension, which is characterized in that packet
Include following steps:
Step 1: establishing linear pulling motor vector control system, secondary anti-electricity is obtained according to the voltage model of linear pulling motor
α, β component of electromotive force signal；The frequency of secondary counter electromotive force is calculated according to α, β component of secondary back-emf signal:
Step 2: realizing that the low-order harmonic of secondary back-emf signal filters out first with the prefilter based on α β CDSC, obtain
The sinusoidal signal of secondary counter electromotive force；
Step 3: recycling amplitude normalization to realize the unit amplitude of secondary back-emf signal, estimated with reducing Parameters variation to degree
The adverse effect of calculating method；
Step 4: calculating the estimating speed of linear pulling motor senseless control system；
Step 5: obtained estimating speed being filtered using second order output filter, speed is estimated with harmonic carcellation
Count the interference of performance；
Step 6: resulting estimating speed being input to linear pulling motor vector control system, carries out following model calculating；
The primary voltage vector sum primary current vector of linear pulling motor is input to speed estimation algorithms, realizes straight line traction
The operation of motor trailer system Speedless sensor.
2. the line inductance electromotor senseless control plan according to claim 1 suitable for middle low speed magnetic suspension
Slightly, which is characterized in that the step 1 specifically includes:
The voltage model of linear pulling motor are as follows:
In formula: ΨsAnd ΨrThe respectively primary magnetic linkage vector sum secondary flux linkage vector of linear pulling motor, usAnd isIt is respectively straight
The primary voltage vector sum primary current vector of line traction electric machine, Lm′、Ls′、Lr', σ ' respectively represent consider dynamic side-termind effect
Magnetizing inductance, primary inductance, secondary inductance and the magnetic leakage factor of linear pulling motor afterwards；RsFor the primary of linear pulling motor
Resistance；
And have:
Ψs=[Ψsα Ψsβ]TΨr=[Ψrα Ψrβ]T us=[usα usβ]T is=[isα isβ]T
In formula, ΨsαAnd ΨsβRespectively α, β component of linear pulling motor primary flux linkage vector；ΨrαAnd ΨrβRespectively straight line
α, β component of traction electric machine secondary flux linkage vector；usαAnd usβRespectively α, β component of linear pulling motor primary voltage vector；
isαAnd isβRespectively α, β component of linear pulling motor primary current vector；
It is further obtained by the voltage model of linear pulling motor:
In formula: p is differential operator, esAnd erThe respectively primary counter electromotive force vector sum secondary counter electromotive force of linear pulling motor
Vector, and have:
es=[esα esβ]T er=[erα erβ]T
Formula (2) is simplified, is obtained:
If secondary back-emf signal are as follows:
In formula (3): erαAnd erβRespectively secondary counter electromotive force erα, β component, ω andRespectively secondary back-emf signal
Frequency and first phase；
Formula (4) is carried out taking differential, then is had:
In formula: p is differential operator
It can be obtained by formula (5), the frequency of secondary back-emf signal are as follows:
In formula: perαAnd perβThe respectively secondary α axis component of counter electromotive force and the differential of beta -axis component.
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| CN110995072A (en) * | 2019-12-19 | 2020-04-10 | 华中科技大学 | Motor rotor position estimation method |
| CN114844418A (en) * | 2022-04-18 | 2022-08-02 | 西南交通大学 | Speed sensorless control method for induction motor |
| CN115580177A (en) * | 2022-12-12 | 2023-01-06 | 四川奥库科技有限公司 | Hall motor rotor position estimation method |
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