CN109639205B - Position error elimination method based on high-frequency square wave injection position-sensorless control - Google Patents

Position error elimination method based on high-frequency square wave injection position-sensorless control Download PDF

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CN109639205B
CN109639205B CN201910058232.5A CN201910058232A CN109639205B CN 109639205 B CN109639205 B CN 109639205B CN 201910058232 A CN201910058232 A CN 201910058232A CN 109639205 B CN109639205 B CN 109639205B
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CN109639205A (en
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樊英
李令
张秋实
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Southeast University
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors

Abstract

The invention discloses a position error elimination method based on high-frequency square wave injection position-sensorless control, wherein a control object is a five-phase permanent magnet synchronous motor, a motor control strategy adopts vector control of a rotating speed and a current double closed loop, high-frequency square wave voltage is injected into a straight shaft, low-frequency and high-frequency phase currents are respectively extracted through a corrected signal separation link to form a fundamental frequency current and a quadrature-axis high-frequency current containing position information, the fundamental frequency current is used for current feedback in vector control, and the extracted high-frequency signals are subjected to angle estimation and speed estimation through a software phase-locked loop.

Description

Position error elimination method based on high-frequency square wave injection position-sensorless control
Field of the invention
The invention belongs to the field of motor control processing, and particularly relates to a position error elimination method based on high-frequency square wave injection position-sensorless control.
Background
The permanent magnet synchronous motor has the advantages of high efficiency, high power density, convenience in maintenance, strong environmental adaptability and the like, and is widely applied to the fields of spaceflight, numerical control, electric automobiles and the like, however, the stable and efficient operation of the permanent magnet synchronous motor is very dependent on position information, a sensor for detecting the position of the motor is required to be attached while the motor is assembled, and position detection devices of the permanent magnet synchronous motor for a sinusoidal magnetic field are generally an incremental encoder, an absolute encoder, a rotary transformer and the like, wherein the absolute encoder and the rotary transformer have the best stability and are higher in price; although the incremental encoder is cheap, the incremental encoder has poor stability, and the position signal is easily interfered in a severe environment, thereby causing the collapse of vector control. Position-sensor-free technology therefore arises for reasons of price on the one hand and stability on the other hand.
At zero speed and low speed, the high-frequency square wave voltage injection method can effectively estimate the position and the speed, has the characteristics of strong signal-to-noise ratio, high bandwidth and the like, and is widely applied to position-free control.
Disclosure of Invention
The invention provides a position error elimination method based on high-frequency square wave injection no-position sensor control, which aims at the problems in the prior art, the control object is a five-phase permanent magnet synchronous motor, the motor control strategy adopts the vector control of a rotating speed and a current double closed loop, high-frequency square wave voltage is injected into a straight axis, five-phase current containing low frequency and high frequency respectively extracts fundamental frequency current and quadrature axis high-frequency current containing position information through a corrected signal separation link, the fundamental frequency current is used for current feedback in the vector control, and the extracted high-frequency signal obtains an estimated angle and speed through a software phase-locked loop.
In order to achieve the purpose, the invention adopts the technical scheme that: the position error eliminating method based on high-frequency square wave injection position sensorless control comprises the following steps:
s1, injecting high-frequency square wave voltage into the direct axis to excite high-frequency quadrature axis current containing position information;
s2, obtaining the current of the five-phase motor through the phase current sensor;
s3, respectively separating the fundamental frequency and the high-frequency current in the five-phase motor current obtained in the step S2 through a fundamental frequency and high-frequency current extraction algorithm;
s4, feeding the separated fundamental frequency current in the step S3 back to the current closed loop;
s5, the high frequency quadrature axis current separated in the step S3 is used for phase-locked loop estimation angle and speed for vector control.
As a modification of the present invention, in step S1, the high-frequency square wave is:
Figure BDA0001953278100000021
wherein f iscIs a spaceA vector modulated carrier frequency; f. ofsIs the current sampling frequency;
Figure BDA0001953278100000022
a positive and negative alternating high-frequency voltage command superposed at the PI output of the d-axis current loop; f. ofhIs its frequency; f. ofbIs the execution frequency of the current loop in vector control.
As another improvement of the present invention, in step S3, the high-frequency current extraction algorithm is performed under a rotating coordinate system based on an algebraic method, and the algorithm further includes:
s31, converting the five-phase current collected in the step S2 to a primary plane under a two-phase static coordinate system through Clark conversion to obtain iαAnd iβ；
S32, by
Figure BDA0001953278100000023
Obtaining quadrature axis current under a rotating coordinate system through Park transformation of an angle,
Figure BDA0001953278100000024
wherein, TsIs a current sampling period;
Figure BDA0001953278100000031
the angle estimated before two cycles;
Figure BDA0001953278100000032
is the estimated electrical frequency;
s33, extracting the amplitude i of the high-frequency quadrature-axis current signal containing the position information by the algebraic method of the following formulaqhk，
Figure BDA0001953278100000033
Wherein iqk、iqk-1And iqk-2Respectively at time k and time k-1The quadrature axis current calculated in step S31 at time k-2.
As a further improvement of the present invention, the high frequency quadrature axis current signal extracted after step S3 is:
Figure BDA0001953278100000034
wherein L isdhIs a straight-axis high-frequency inductor, LqhIs a straight-axis high-frequency inductor, Ldif＝Lq-Ld；θeThe actual electrical angle of the motor;
Figure BDA0001953278100000035
is the estimated electrical angle; t issIs the sampling period of the current;
Figure BDA0001953278100000036
is the estimated electrical frequency of the motor rotation.
In order to achieve the purpose, the invention adopts the technical scheme that: the application of the position error elimination method based on the high-frequency square wave injection non-position sensor control comprises the following steps:
s1, collecting voltage and current values;
s2, extracting high-frequency current i by the method of claim 1qhObtaining the estimated angle by a software phase-locked loop
Figure BDA0001953278100000037
S3, coordinate transformation is carried out on the five-phase current to obtain a fundamental frequency current idqbPerforming vector control to obtain
Figure BDA0001953278100000038
S4, reversing the given value of the high-frequency injection voltage,
Figure BDA0001953278100000039
s5, calculating space vector modulationVoltage of
Figure BDA00019532781000000310
Performing space vector modulation, and calculating comparison value of PWM of each phase
S6, storing the given value of the fundamental frequency voltage,
Figure BDA00019532781000000311
compared with the prior art, the high-frequency signal extraction method provided by the invention solves the problem of position estimation error caused by the traditional high-frequency signal extraction method in a high-frequency square wave voltage injection position-free algorithm, not only eliminates the position deviation, but also can realize the advanced estimation of the angle, the angle estimated by the method is used for vector control, the phase delay of the output voltage caused by digital control and an inverter can be compensated, and the robustness, the dynamic performance and the steady-state performance of a motor are obviously improved; meanwhile, the method explains one reason causing the position estimation error for the first time, and the used method has small calculation amount, is easy to realize and is convenient for engineering and practicability.
Drawings
FIG. 1 is a block diagram of the system architecture of the method of the present invention;
FIG. 2 is a schematic diagram of the method for extracting high frequency quadrature axis current in step S3 according to the present invention;
fig. 3 is a timing diagram of control signals according to embodiment 2 of the present invention.
Detailed Description
The invention will be explained in more detail below with reference to the drawings and examples.
Example 1
The position error eliminating method based on high-frequency square wave injection position sensorless control comprises the following steps:
s1, injecting high-frequency square wave voltage into the direct axis to excite high-frequency quadrature axis current containing position information, wherein the high-frequency square wave is as follows:
Figure BDA0001953278100000041
wherein f iscA carrier frequency modulated for a space vector; f. ofsIs the current sampling frequency;
Figure BDA0001953278100000042
a positive and negative alternating high-frequency voltage command superposed at the PI output of the d-axis current loop; f. ofhIs its frequency; f. ofbIs the execution frequency of the current loop in vector control. (ii) a
S2, obtaining the current of the five-phase motor through the phase current sensor;
s3, respectively separating the fundamental frequency and the high-frequency current of the five-phase motor current obtained in step S2 by a fundamental frequency and high-frequency current extraction algorithm, wherein the high-frequency current extraction algorithm is performed under a rotating coordinate system based on an algebraic method, and the high-frequency current extraction algorithm further includes:
s31, converting the five-phase current collected in the step S2 to a primary plane under a two-phase static coordinate system through Clark conversion to obtain iαAnd iβ；
S32, by
Figure BDA0001953278100000051
Obtaining quadrature axis current under a rotating coordinate system through Park transformation of an angle,
Figure BDA0001953278100000052
wherein, TsIs a current sampling period;
Figure BDA0001953278100000053
the angle estimated before two cycles;
Figure BDA0001953278100000054
is the estimated electrical frequency;
s33, extracting the amplitude i of the high-frequency quadrature-axis current signal containing the position information by the algebraic method of the following formulaqhk，
Figure BDA0001953278100000055
Wherein iqk、iqk-1And iqk-2The quadrature axis currents calculated by the step S31 at the time k, the time k-1 and the time k-2, respectively;
the extracted high-frequency quadrature axis current signal is as follows:
Figure BDA0001953278100000056
wherein L isdhIs a straight-axis high-frequency inductor, LqhIs a straight-axis high-frequency inductor, Ldif＝Lqh-Ldh；θeThe actual electrical angle of the motor;
Figure BDA0001953278100000057
is the estimated electrical angle; t issIs the sampling period of the current;
Figure BDA0001953278100000058
is the estimated electrical frequency of the rotation of the motor;
s4, feeding the separated fundamental frequency current in the step S3 back to the current closed loop;
s5, the high frequency quadrature axis current separated in step S3 is used for phase-locked loop estimation angle and speed, and vector control, as can be seen from FIG. 1, the control system uses the angle information at a plurality of places, replaces the angle information with different subscripts at each angle, and defines the angle updated by the phase-locked loop each time as the estimated angle of the current k time
Figure BDA0001953278100000059
Defining angle observation error
Figure BDA00019532781000000510
θkThe true angle of the motor at time k is entered.
The method is characterized in that a motor control strategy is vector control of a rotating speed and current double closed loop, wherein angles used for speed feedback and coordinate transformation are speeds and angles estimated by a phase-locked loop, a position-free strategy adopts a high-frequency square wave injection algorithm, an algebraic method is adopted for extracting high-frequency signals, in a high-frequency extraction link, the angles estimated at the last moment are not used for coordinate transformation of the high-frequency signals, the corrected angles are adopted for transformation, the high-frequency signals containing position information are extracted, and the purposes of eliminating deviation and estimating in advance are achieved.
Example 2
Based on the program of the digital controller, Ewm1 and Epwm2 modules of the controller synchronously count, and the interruption occurs at the trough of Epwm1 and the peak of Epwm2, and the trough of Epwm1 is interrupted by the following specific steps:
step1, sampling voltage and current;
step2 utilization of
Figure BDA0001953278100000061
Performing Park conversion on the five-phase current, and extracting a high-frequency current i by using an algebraic methodqh；
Step3 using iqhEstimation by software phase locked loop
Figure BDA0001953278100000062
And
Figure BDA0001953278100000063
step4 utilization of
Figure BDA0001953278100000064
Coordinate transformation is carried out on the five-phase current to obtain a base frequency current idqbPerforming vector control to obtain
Figure BDA0001953278100000065
Step5, the given value of the high-frequency injection voltage is reversed,
Figure BDA0001953278100000066
step6 calculation of Electricity for space vector modulationPress and press
Figure BDA0001953278100000067
Then use
Figure BDA0001953278100000068
Carrying out space vector modulation, and calculating a comparison value of each phase of PWM;
step 7-fundamental frequency voltage set point save,
Figure BDA0001953278100000069
the peak interruption procedure for Epwm2 is as follows:
step1, sampling voltage and current;
step2 in this interrupt iqhWithout updating, the extracted high-frequency current i is interrupted by the troughs of Epwm1qhPerforming phase locking to estimate
Figure BDA00019532781000000610
Step3 utilization of
Figure BDA00019532781000000611
Coordinate transformation is carried out on the five-phase current to obtain a current i containing fundamental frequency and high frequencydqAnd saved, the trough break for Epwm 1;
step4 holding high frequency voltage given signal
Figure BDA00019532781000000612
Invariant, computing voltage for space vector modulation
Figure BDA00019532781000000613
By using
Figure BDA00019532781000000614
Space vector modulation is performed, and comparison values of the PWM of each phase are calculated.
FIG. 3 is a signal timing diagram corresponding to the present embodiment,
Figure BDA00019532781000000615
signals u are respectively given for fundamental frequency voltage and high frequency voltageq、udhFundamental frequency and high frequency commands, i, respectively, output by the actual inverterqb、iqhRespectively corresponding fundamental frequency and high frequency quadrature axis current response, iqIs a quadrature current that contains both fundamental and high frequencies. As can be seen from fig. 3, in a triangular carrier period from a wave trough to a wave trough, the quadrature axis voltage actually output by the inverter is kept constant, while the high-frequency square wave voltage alternates, the high-frequency quadrature axis current is zero at the wave trough, and the increase rate of the fundamental frequency quadrature axis current is kept constant. The fundamental frequency and the high-frequency quadrature axis current are calculated at the wave trough, and the updating period is the carrier period. The fundamental frequency signal is quadrature axis current sampled and transformed when the trough is formed, and the high frequency signal is extracted by the algebraic method according to the following formula:
Figure BDA0001953278100000071
wherein iqk、iqk-1And iqk-2Respectively the quadrature axis current at the time k after the transformation at the time of the wave trough and the quadrature axis current before one sampling period and two sampling periods.
And (3) combining a motor model and a control method, considering digital control and inevitable delay of an inverter, and obtaining the high-frequency quadrature axis current value as follows:
Figure BDA0001953278100000072
wherein L isdh、LqhIs a high-frequency inductor with direct and alternating axes, LΣ＝Lqh+Ldh，Ldif＝Lqh-Ldh，UdhFor the amplitude, theta, of the injected high-frequency voltage signalk-1The real electrical angle of the motor at the moment k-1,
Figure BDA0001953278100000073
in order to be able to estimate the electrical frequency,
Figure BDA0001953278100000074
Figure BDA0001953278100000075
as in the control block diagram of fig. 1. In the traditional method:
Figure BDA0001953278100000076
then when the high frequency quadrature axis current is stably converged by the software phase-locked loop, iqhkWhen the ratio is 0, the following is obtained:
Figure BDA0001953278100000077
Figure BDA0001953278100000078
for the salient pole ratio of the motor, the salient pole ratio of the surface-mounted motor is very small, so that the surface-mounted motor can cause obvious angle observation errors. The present invention uses the following angles for coordinate transformation:
Figure BDA0001953278100000081
when the high-frequency quadrature axis current is stably converged through the software phase-locked loop, the estimated angle error is as follows:
θer＝-1.5ωeTs
realize 1.5 omegaeTsThe electrical angle, i.e. the phase value of the voltage output delay brought about by the digital control and the inverter control, is estimated in advance.
The high-frequency signal extraction method adopting the correction angle as the coordinate change not only finds out one reason of the angle estimation error in the traditional high-frequency square wave injection algorithm, but also effectively eliminates the angle estimation error through a simple correction link, and realizes 1.5 omegaeTsAdvanced estimation of electrical angle while enabling compensation of numbersThe output voltage phase delay brought by word control and an inverter ensures the stability of a position-free control algorithm, and the dynamic and steady-state performance of the motor in position-free operation is obviously improved.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited by the foregoing examples, which are provided to illustrate the principles of the invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention, which is also intended to be covered by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (4)

1. The position error elimination method based on high-frequency square wave injection position sensorless control is characterized by comprising the following steps of:
s1, injecting high-frequency square wave voltage into the direct axis to excite high-frequency quadrature axis current containing position information;
s2, obtaining the current of the five-phase motor through the phase current sensor;
s3, separating the fundamental frequency and the high frequency current of the five-phase motor current obtained in step S2 by a fundamental frequency and high frequency current extraction algorithm, respectively, where the high frequency current extraction algorithm is performed in a rotating coordinate system based on an algebraic method, and the algorithm further includes:
s31, converting the five-phase current collected in the step S2 to a primary plane under a two-phase static coordinate system through Clark conversion to obtain iαAnd iβ；
S32, by
Figure FDA0002950044710000011
Obtaining quadrature axis current under a rotating coordinate system through Park transformation of an angle,
Figure FDA0002950044710000012
wherein, TsIs a current sampling period;
Figure FDA0002950044710000013
the angle estimated before two cycles;
Figure FDA0002950044710000014
is the estimated electrical frequency;
s33, extracting the amplitude i of the high-frequency quadrature-axis current signal containing the position information by the algebraic method of the following formulaqhk，
Figure FDA0002950044710000015
Wherein iqk、iqk-1And iqk-2The quadrature axis currents calculated by the step S31 at the time k, the time k-1 and the time k-2, respectively; u. ofdhA high frequency voltage actually output for the controller;
s4, feeding the separated fundamental frequency current in the step S3 back to the current closed loop;
s5, the high frequency quadrature axis current separated in the step S3 is used for phase-locked loop estimation angle and speed for vector control.
2. The position error cancellation method based on high-frequency square wave injection position sensorless control of claim 1, wherein the high-frequency square wave in step S1 is:
Figure FDA0002950044710000021
wherein f iscA carrier frequency modulated for a space vector; f. ofsIs the current sampling frequency;
Figure FDA0002950044710000022
a positive and negative alternating high-frequency voltage command superposed at the PI output of the d-axis current loop; f. ofhTo its frequency；fbIs the execution frequency of the current loop in vector control.
3. The position error elimination method based on high-frequency square wave injection position sensorless control as claimed in claim 1, wherein the high-frequency quadrature axis current signal extracted after step S3 is:
Figure FDA0002950044710000023
wherein L isdhIs a straight-axis high-frequency inductor, LqhIs a straight-axis high-frequency inductor, Ldif＝Lqh-Ldh；θeThe actual electrical angle of the motor;
Figure FDA0002950044710000024
is the estimated electrical angle; t issIs the sampling period of the current;
Figure FDA0002950044710000025
is the estimated electrical frequency of the motor rotation.
4. The position error cancellation method based on high frequency square wave injection position sensorless control of claim 1, characterized by comprising the steps of:
s1, collecting voltage and current values;
s2, extracting high-frequency current i by the method of claim 1qhObtaining the estimated angle by a software phase-locked loop
Figure FDA0002950044710000026
S3, coordinate transformation is carried out on the five-phase current to obtain fundamental frequency current
Figure FDA0002950044710000027
Performing vector control to obtain
Figure FDA0002950044710000028
S4, reversing the given value of the high-frequency injection voltage,
Figure FDA0002950044710000029
s5, calculating voltage for space vector modulation
Figure FDA00029500447100000210
Performing space vector modulation, and calculating comparison value of PWM of each phase
S6, storing the given value of the fundamental frequency voltage,
Figure FDA00029500447100000211
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