CN109560728A - A kind of durface mounted permanent magnet synchronous motor position-sensor-free speed estimate switching method - Google Patents
A kind of durface mounted permanent magnet synchronous motor position-sensor-free speed estimate switching method Download PDFInfo
- Publication number
- CN109560728A CN109560728A CN201810031379.0A CN201810031379A CN109560728A CN 109560728 A CN109560728 A CN 109560728A CN 201810031379 A CN201810031379 A CN 201810031379A CN 109560728 A CN109560728 A CN 109560728A
- Authority
- CN
- China
- Prior art keywords
- value
- speed
- estimation
- permanent magnet
- magnet synchronous
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0017—Model reference adaptation, e.g. MRAS or MRAC, useful for control or parameter estimation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
-
- 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
- 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
- H02P25/022—Synchronous motors
-
- 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
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/183—Circuit arrangements for detecting position without separate position detecting elements using an injected high frequency signal
-
- 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
- H02P2207/055—Surface mounted magnet motors
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention belongs to permanent magnet synchronous motor control fields, are related to a kind of position-sensor-free PMSM Speed control strategy.A kind of the disadvantages of device and method the present invention provides durface mounted permanent magnet synchronous motor without the wide velocity interval control of sensor, present invention mainly solves tradition machinery formula position detection device bring system costs to increase, stability is poor.Method includes: to inject pulsating high-frequency voltage signal in zero low-speed stage in estimation d-axis positive direction, detect phase current, position detection device estimates revolving speed and position angle；In the high speed stage, using model reference adaptive method, position Sensorless Control is carried out using parameters such as voltage, electric currents.In low speed and middling speed switch step, the velocity estimation value of two methods can be weighted according to the weighting function of velocity variations using slope, guarantee that motor realizes position Sensorless Control in full speed range.
Description
[technical field]
The invention belongs to permanent magnet synchronous motor control fields, especially two kinds of sensorless strategy methods of permanent magnet synchronous motor
Smoothly switch.
[background technique]
Traditional permanent magnet synchronous motor control mode, spinner velocity, location information come from position sensor.Position sensing
Device must be installed accurately, is regularly maintained.The installation of high-precision sensor increases the cost of hardware system, increases system
Maintenance workload, meanwhile, but also system reduces the adaptability of environment, reliability decrease.Senseless control
Method can solve problem above.
Pulsating high frequency signal injection method low-speed stage have good velocity estimation performance, but the high speed stage due to
The limitation of the factors such as filter bandwidht, estimation performance can decline.
Model reference adaptive method is suitable for the high speed stage.When speed is smaller, since electric signal amplitude com parison is small,
Velocity estimation performance can decline therewith, therefore not be suitable for zero-speed, low-speed stage.
The hybrid control strategy of two methods, critical issue be, the determination of estimating speed information amalgamation mode side, by low
The fast stage into high speed stage accelerator, needs to realize cutting by pulsating high-frequency signal injection to model reference adaptive method
It changes.Existing switching mode easily causes the problems such as big switch step velocity perturbation, handover failure.
[summary of the invention]
The present invention provides a kind of durface mounted permanent magnet synchronous motor position-sensor-free mixing control methods, mainly solve existing
Some durface mounted permanent magnet synchronous motor control systems carry out position-sensorless control method single when position Sensorless Control can not
In the problem that full speed range is applicable in.
Durface mounted permanent magnet synchronous motor position-sensor-free mixing control method of the present invention, comprising: zero low speed rank
Section based on pulsating High Frequency Injection without method for detecting position and high speed stage based on model reference adaptive method
Position-sensor-free detection method.
The present invention devises the calculation formula of estimating speed value in novel mixing position-sensorless control, which is characterized in thatIt is according to estimating speed order of magnitude, the changed piecewise function of slope:When, g1=1；When,When estimating speed meets conditionWhen,When, g1=0.g2=1-g1。
Wherein, the pulsating high-frequency voltage signal injection method the following steps are included:
(1), in d-axis direction overlapped high-frequency voltage signal: Umh cos(ωht)；
(2), current sensor acquires A, B biphase current, is coordinately transformed, bandpass filtering is found out under estimation frame
Quadrature axis current respond high fdrequency component
(3)、Multiply the sinusoidal unit function sin (ω equal with the high-frequency signal period of injectionht).Low pass is carried out to result
Filtering obtains and the estimation positively related function f (Δ θ) of angular error sine value；
(4), f (Δ θ) is inputted into PI controller as error, the output of PI controller is estimation angular rate valueIt adjusts
Section f (Δ θ) levels off to zero, makes estimated location angular speedClose to actual angular speed.
In next step, three-phase voltage value, low-pass filtering are measured, cutoff frequency 50Hz is coordinately transformed, and finds out straight, friendship
Shaft voltage value ud、uq。
Reference model in model reference adaptive method of the present invention is the voltage equation of SPMSM, adjustable
Model is:
In the estimating speed calculation formula of the model reference adaptive method used in the present invention, id′、iq' by reference model
Calculating is got,It is calculated by adjustable model, by id′、iq′、It is input in adaptive law, calculates estimation speed
Angle value
Based on above-mentioned position-sensorless control scheme, the full speed range for the durface mounted permanent magnet synchronous motor that the application proposes
Without method for detecting position.It will be adapted to the pulsating high-frequency voltage signal injection method of zero low-speed stage and suitable for the high speed stage
Model reference adaptive method combines.In switch step, smoothly switched using weighting function realization, the slope root of weighting function
The size of revolving speed can change according to estimates, inclined low-speed stage, the estimated value of pulsating high-frequency voltage signal injection method outputWeight
It is larger, inclined high speed stage, the velocity amplitude of model reference adaptive method estimationWeight is bigger than normal.In this way, two kinds can be made full use of
The advantage of position observation method, it can be achieved that the full speed range of durface mounted permanent magnet synchronous motor position Sensorless Control, and
And the raising that position, velocity estimation performance may be significantly.
[Detailed description of the invention]
Fig. 1 is pulsating high-frequency voltage signal injection method schematic diagram of the present invention；
Fig. 2 is model reference adaptive method figure of the present invention；
Fig. 3 is the switching weighting function figure of two kinds of detection methods of the invention.
Fig. 4 is control system complete schematic of the present invention.
[specific embodiment]
The present invention is described in detail below with reference to schematic diagram.
Main contents of the present invention include: zero, low-speed stage using the position sensorless based on pulsating high frequency signal injection method
Device control technology estimates the position of rotor, velocity information, and the high speed stage uses model reference adaptive method position-sensor-free
Detection method realizes position, the estimation of speed and the switching of two kinds of Sensorless Control Techniques.By specifically weighting
Two methods of the stabilization transition of function realization.
It on the one hand is position angle when estimating stationary state by pulsating high-frequency voltage signal injection method, such as Fig. 2 institute
Show the injection pulsating high-frequency voltage signal u on d-axisdh=Umh cos(ωhT), three-phase current is detected using Hall element, passed through
PARK, CLARK transformation, bandpass filtering find out quadrature axis currentIt sees the position for inputting pulsating high-frequency voltage signal injection method
Device is surveyed, is made of bandpass filter, low-pass filter, PI controller etc..Multiply sin (ωhT), after low-pass filtering, obtain with
The positively related function f (Δ θ) of the sine value of evaluated error angle, the error originated from input value by f (Δ θ) as PI controller, PI control
Device output estimation speed processed, angle value.PI coefficient is adjusted, so that f (Δ θ) is leveled off to zero, location estimation can be realized.
It on the other hand is the Sensorless Control Technique that the high speed stage is realized by model reference adaptive method,
It is made of reference model, adaptive model and adaptive law three parts.As shown in figure 3, reference model is SPMSM itself, inspection
Its electric current is surveyed, low-pass filtering is simultaneously coordinately transformed, and finds out straight, quadrature axis current signal id′、iq′.The input of adjustable model be it is straight,
Quadrature-axis voltage value, adjustable model output current valueIt can be by variable id′、iq′、Obtain estimation revolving speed
In next step, estimation revolving speed is calculated using the handoff technique for above two position Sensorless Control algorithm.Add
Weight function is divided into two sections according to estimation tachometer value, and curve is as shown in figure 4, g1Expression formula are as follows:When, g1=1；When,When estimating speed meets conditionWhen,WhenWhen, g1=0.g2=1-g1。
Specifically, the estimated angular velocity value of rotorValue following variation is done according to velocity interval.
Step 1, the initial position angle that rotor is detected by pulsating high-frequency voltage signal injection method, realize the starting of motor.
Step 2, motor enter boost phase, when motor estimating speed absolute value is less than ωt0When, estimating speed value is equal to pulsating
The estimated value of high-frequency voltage signal injection method
Step 3, when motor angular speed absolute value be greater than ωt0Afterwards, model reference adaptive method is started to work, according to weighting letter
NumberThe estimated value of two methods is weighted, the magnitude of angular velocity of speed ring input is obtained
Step 4, when motor angular speed absolute value be greater than ωt1Afterwards, weighting functionExpression formula be adjusted because partially
High speed stage will assign bigger weight to the estimated value of model reference adaptive method.
Step 5, when motor angular speed absolute value be greater than ωt2Afterwards, estimating speed value is equal to the angle of model reference adaptive method
Velocity estimation value
Step 6, correspondingly, when decelerating through motor or when reversely rotating, the value of estimated angular velocity is also according to above-mentioned speed model
It encloses and is changed.
Claims (3)
1. a kind of durface mounted permanent magnet synchronous motor position-sensor-free full speed range control method characterized by comprising
Step 1: speed ring, Voltage loop are calculated according to given value and actual value by PI controller, and output rectangular axis voltage is given
Value
Step 2: pulsating high-frequency voltage signal is superimposed on estimation frame d-axis direction
Step 3: by pulsating high-frequency voltage signal injection method position detection device, model reference adaptive position detection device according to detection
To electric signal estimate rotor estimating speed value respectively
Step 4: according to weighting functionThe velocity amplitude from two position detection devices is handled, is calculated for controlling
The velocity estimation value of device processedPosition estimation valueByIntegral obtains.
2. the acquisition of speed according to claim 1, angle estimation value, which is characterized in that by pulsating high frequency signal injection
Value estimated by methodThe estimated value of model reference adaptiveAcquisition is weighted.Wherein, when estimating speed is absolute
Value isWhen, carry out the switching of two kinds of velocity estimation modes.When estimating speed absolute value betweenBetween when,
Two estimated values are weighted.The weighting function, which is characterized in that in step 4, estimate for calculating speed
ValueWeighted calculation formula are as follows:, estimate angle valueFor estimating speed valueIntegrated value.
3. the calculation formula of velocity estimation value according to claim 2, which is characterized in thatFor the segmentation letter of variable slope
Number:When, g1=1；When,
When estimating speed meets conditionWhen,
When, g1=0.g2=1-g1。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810031379.0A CN109560728A (en) | 2018-01-12 | 2018-01-12 | A kind of durface mounted permanent magnet synchronous motor position-sensor-free speed estimate switching method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810031379.0A CN109560728A (en) | 2018-01-12 | 2018-01-12 | A kind of durface mounted permanent magnet synchronous motor position-sensor-free speed estimate switching method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109560728A true CN109560728A (en) | 2019-04-02 |
Family
ID=65864445
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810031379.0A Pending CN109560728A (en) | 2018-01-12 | 2018-01-12 | A kind of durface mounted permanent magnet synchronous motor position-sensor-free speed estimate switching method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109560728A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111130407A (en) * | 2019-12-31 | 2020-05-08 | 苏州绿控传动科技股份有限公司 | Position-sensorless control method for full-speed-domain loaded running of permanent magnet synchronous motor |
| CN112803844A (en) * | 2021-02-24 | 2021-05-14 | 西安星球通智能装备技术有限公司 | DC brushless motor speed estimation method based on zero-speed filtering |
| CN113489412A (en) * | 2021-06-25 | 2021-10-08 | 西南大学 | Motor system smooth switching control method and motor control system |
| CN113938073A (en) * | 2021-10-09 | 2022-01-14 | 广东汇天航空航天科技有限公司 | Motor position estimation method and device, controller, electric automobile and aerocar |
| CN114026435A (en) * | 2019-04-23 | 2022-02-08 | 雷诺股份公司 | Method for estimating and adjusting the speed and acceleration of a vehicle |
-
2018
- 2018-01-12 CN CN201810031379.0A patent/CN109560728A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114026435A (en) * | 2019-04-23 | 2022-02-08 | 雷诺股份公司 | Method for estimating and adjusting the speed and acceleration of a vehicle |
| CN111130407A (en) * | 2019-12-31 | 2020-05-08 | 苏州绿控传动科技股份有限公司 | Position-sensorless control method for full-speed-domain loaded running of permanent magnet synchronous motor |
| CN112803844A (en) * | 2021-02-24 | 2021-05-14 | 西安星球通智能装备技术有限公司 | DC brushless motor speed estimation method based on zero-speed filtering |
| CN113489412A (en) * | 2021-06-25 | 2021-10-08 | 西南大学 | Motor system smooth switching control method and motor control system |
| CN113489412B (en) * | 2021-06-25 | 2022-10-04 | 西南大学 | Motor system smooth switching control method and motor control system |
| CN113938073A (en) * | 2021-10-09 | 2022-01-14 | 广东汇天航空航天科技有限公司 | Motor position estimation method and device, controller, electric automobile and aerocar |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109560728A (en) | A kind of durface mounted permanent magnet synchronous motor position-sensor-free speed estimate switching method | |
| CN105391364B (en) | A kind of brushless direct current motor sensorless control system and control method | |
| CN105529967B (en) | A kind of detection of blower starting state and starting control method | |
| CN103219933B (en) | A kind of permagnetic synchronous motor starts smooth-switching method | |
| CN105790660B (en) | Ultrahigh speed permanent magnet synchronous motor revolving speed adaptive robust control system and method | |
| CN103825525B (en) | A kind of permagnetic synchronous motor without sensor speed estimation method of improvement | |
| CN107579690B (en) | A kind of ultrahigh speed permanent magnet synchronous motor method for estimating rotating speed based on sliding formwork observation | |
| CN106602941A (en) | Control device and method for reducing commutation torque ripple of brushless direct-current motor | |
| JP2003033096A (en) | Device and method for controlling rotational speed of synchronous reluctance motor | |
| CN109167547A (en) | Based on the PMSM method for controlling position-less sensor for improving sliding mode observer | |
| CN108847795A (en) | A kind of control method of permanent magnet synchronous motor position-sensor-free | |
| CN107769636B (en) | A kind of position-sensor-free permanent magnet synchronous motor rotor position detection method | |
| AU2012238266A1 (en) | Method and system estimating rotor angle of an electric machine | |
| CN103248287A (en) | Switching method of position-sensor-free direct torque motor control system | |
| CN109039204A (en) | Automobile permanent magnet synchronous motor position-sensor-free model predictive control system and method | |
| CN108183651A (en) | A kind of control method of permanent magnet linear synchronous motor position-sensor-free | |
| CN103051271A (en) | Permanent magnet synchronous motor unposition sensor control method | |
| CN108306570A (en) | Direct torque control method for permanent magnetic synchronous electric machine and system | |
| CN107565869A (en) | Family expenses cooking machine control method based on permanent-magnet brushless DC electric machine | |
| CN109768753A (en) | The position-sensor-free permanent magnet synchronous motor model predictive control method of novel sliding mode observer | |
| CN108900127A (en) | Consider the IPMSM low speed segment method for controlling position-less sensor of cross-coupling effect | |
| CN108574444A (en) | One kind being used for initial position detection method for permanent magnet synchronous electric motor rotor | |
| CN107872174B (en) | Compensation method for detecting position of permanent magnet synchronous motor rotor by high-frequency injection method | |
| CN109586634A (en) | A kind of dead-zone compensation method and its synchronous motor of permanent magnet synchronous motor position-sensor-free | |
| CN105071736B (en) | A kind of wind turbine permanent magnet synchronous motor is without sensorless rotor position detection method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190402 |
|
| WD01 | Invention patent application deemed withdrawn after publication |