CN110112978A - A kind of full speed method for controlling position-less sensor of permanent magnet synchronous motor load torque compensation - Google Patents
A kind of full speed method for controlling position-less sensor of permanent magnet synchronous motor load torque compensation Download PDFInfo
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- CN110112978A CN110112978A CN201910373764.8A CN201910373764A CN110112978A CN 110112978 A CN110112978 A CN 110112978A CN 201910373764 A CN201910373764 A CN 201910373764A CN 110112978 A CN110112978 A CN 110112978A
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/20—Estimation of torque
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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
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/11—Determination or estimation of the rotor position or other motor parameters based on the analysis of high frequency signals
Abstract
A kind of full speed method for controlling position-less sensor of permanent magnet synchronous motor load torque compensation, for permanent magnet synchronous motor full speed range position-sensor-free high performance control problem, a kind of hybrid position estimation strategy based on extended state observer (ESO) load torque compensation is proposed；Low-speed stage uses high frequency voltage pulse method for implanting, and the high speed stage uses the sliding mode observer method based on Integral Sliding Mode face, realizes the location estimation of full speed range；And stagnant ring switchover policy is designed, guarantee that only a kind of method provides estimated location, estimation revolving speed for closed-loop control under any steady-state speed；Meanwhile in order to improve system Ability of Resisting Disturbance, design ESO is used for load-toque estimate and compensation, improves dynamic performance and Ability of Resisting Disturbance.
Description
Technical field
The present invention relates to permanent magnet synchronous motor control field, especially a kind of nothing of permanent magnet synchronous motor load torque compensation
Position sensor control method.
Background technique
Permanent magnet synchronous motor Sensorless Control Technique because that eliminates position or velocity sensor, reduce system at
This, reduces motor volume, reduces system failure rate, enhancing system suitability etc., and is widely used in aerospace, traffic fortune
The occasions such as defeated, household electrical appliance.But due to by position, the influence of speed estimation error, the speed ring band of position-sensorless systems
Width can be lower than speed loop bandwidth when position sensor, so as to cause system impact, it is prominent unload load when, can generate biggish
The fluctuation of speed, reduces the dynamic property of system, to limit Sensorless Control Technique in high-precision control field
Development.The present invention devises load torque observer and observes and compensated in real time, can improve the dynamic of system well
Can, extend the application field of Sensorless Control Technique.
Summary of the invention
In order to overcome the bandwidth of existing permanent magnet synchronous motor position Sensorless Control low, the problems such as bad dynamic performance, this
Invention provides a kind of full speed method for controlling position-less sensor based on the observation compensation of extended state observer load torque.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of full speed method for controlling position-less sensor of permanent magnet synchronous motor load torque compensation, the method includes with
Lower step:
1.1 position rotors estimation strategy, low-speed stage estimate rotor-position using high-frequency signal injection, and high speed stage, which uses, to be slided
Mould observer estimates rotor-position, and designs stagnant ring switchover policy it is smoothly switched between high low speed, and process is as follows:
1.1.1 low-speed stage uses high-frequency signal injection, in continuous 2 pulse width modulation cycles, guarantees needed for vector controlled
Voltage vector is constant, 1 pair of generating positive and negative voltage pulse is injected in estimation d axis, this have the advantage that 1 PWM cycle need to only update 1
Secondary duty ratio, or inductance biggish motor not high for convex grey subset, each voltage pulse injection length is by double sampled double updates
Ts/ 2 increase to Ts, therefore position signal signal-to-noise ratio improves, and is more advantageous to accurate estimated location,
In formula, By formula (1) it is found thatIn include rotor position error information, with phaselocked loop (Phase Lock
Loop, PLL) position, velocity estimation are carried out to it, it is expressed as
1.1.2 high speed stage uses sliding mode observer SMO method, and mentioned observer is established on α β coordinate system, using forever
Magnetic-synchro motor extension counter electromotive force EEMF model, and it is organized into state equation form:
In formula,Subscript s indicates α β coordinate system,Expression is estimated
Dq coordinate system is counted, amount to be estimated is
Using Integral Sliding Mode face,
In formula, sα、sβRespectively α, β axis sliding-mode surface, current estimation error areDesign SMO are as follows:
In formula, Reaching Law is designed as zαβ=ksmofsw(sαβ), ksmoFor SMO gain, zαβLPFFor zαβBy low-pass filter
Output afterwards, fsw () sine saturation function, subscript ∧ indicate estimated value；
When SMO convergence, EEMF estimated value are as follows:
After obtaining EEMF, using the z after low-pass filtering (LPF)αβFor location estimation, such as formula (6) and formula (7)；
1.1.3 stagnant ring switchover policy causes to come between two methods in order to avoid fluctuating near switching point due to speed
Switching problem is returned, stagnant ring switchover policy is designed, when revolving speed is lower than | ωeL| when, sliding mode observer method switches to high frequency injection side
Method, when revolving speed is higher than | ωeH| when, sliding mode observer method is just switched to by high-frequency signal injection, due to | ωeL|<|ωeH|, it can be with
It avoids toggling between two methods near two switching points, improves switching spot speed running stability；
The observation of 1.2 load torques and compensation, are based on extended state observer design (calculated) load torque observer；
The permanent magnet synchronous motor equation of motion are as follows:
In formula, b0=KT/(JPn), F0=-(Tf+TL)/(JPn) indicate integrated interference, wherein KTFor torque constant, PnFor
Number of pole-pairs, Tf、TLRespectively friction torque, load torque design second nonlinear ESO are as follows:
In formula, z1For velocity estimation, z2Estimate for comprehensive disturbance,β0, β1For observer adjustable parameter, iq
For q shaft current, designs nonlinear function fal () acquisition and compare the better convergence property of linear function, using classical fal () letter
Number is as follows:
After ESO convergence, z2As comprehensive disturbance estimated value, by z2Q axis needed for calculating current composite disturbance using formula
Electric current, and by the value direct compensation to q shaft current ring with reference to giving, so as to so that the load variation of q shaft current quick response, mentions
Highly resistance disturbs performance；
In the step 1.2, realizes in permanent magnet synchronous motor position-sensor-free full speed range, utilize expansion state
Observer real-time estimation simultaneously compensates load torque, the given value of the load torque compensation estimated to electric current loop, to enhance
The dynamic property and anti-interference ability of system.
Technical concept of the invention are as follows: low-speed stage uses high-frequency signal injection estimated position signal, and the high speed stage uses
Sliding mode observer estimated position signal carries out closed-loop control, and high-frequency signal injection is in dq axis injecting voltage, and sliding mode observer is base
In α β establishment of coordinate system.Stagnant ring switchover policy is added between high-frequency signal injection and sliding mode observer method, guarantees that speed is switching
When point fluctuation nearby, location estimation strategy will not be toggled.In normal operating phase, estimated using extended state observer negative
Set torque is compensated to speed ring and is exported, become new electric current loop given value, significantly enhance the dynamic of system in this way
Energy and anti-interference ability, in sudden unloading process load, the fluctuation of speed is smaller, and system stability is good.
Whole position Sensorless Control, the technology to be solved are carried out to load torque compensation permanent magnet synchronous motor
Problem is: design suitable position algorithm for estimating guarantees the accuracy of location estimation, suitable high frequency injection parameter and cunning is arranged
Mould observer parameter guarantees that location estimation can quickly restrain.Also need to adjust the parameter of extended state observer, so that negative
Idling moments estimation being capable of fast convergence, it is ensured that can enhance the dynamic property of system after compensating to system.
Beneficial effects of the present invention are mainly manifested in:
(1) the location estimation separate computations of low speed and high speed, and design stagnant ring switchover policy and realize permanent magnet synchronous motor
Full speed position Sensorless Control；
(2) realize the permanent magnet synchronous motor load torque compensation under position-sensor-free, enhance dynamic performance and
Anti-interference ability；
(3) extended state observer algorithm is succinct, it is easy to accomplish, embody well the engineering of new theory with it is practical
Change.
Detailed description of the invention
Fig. 1 is permanent magnet synchronous motor full speed position Sensorless Control structural block diagram.
Fig. 2 is high-frequency signal injection schematic diagram.
Fig. 3 is stagnant ring switchover policy schematic diagram of the invention.
Fig. 4 is sliding mode observer location estimation lab diagram.
Fig. 5 is high low speed switching experimental waveform figure of the invention.
When Fig. 6 is the load of low-speed stage sudden unloading process, the operating status lab diagram of system.
When Fig. 7 is the load of high speed stage sudden unloading process, the operating status lab diagram of system.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
Referring to Fig.1~Fig. 7, a kind of full speed method for controlling position-less sensor of permanent magnet synchronous motor load torque compensation,
Real-time estimation load torque is simultaneously compensated, comprising the following steps:
1.1 position rotors estimation strategy, low-speed stage estimate rotor-position using high-frequency signal injection, and high speed stage, which uses, to be slided
Mould observer estimates rotor-position, and designs stagnant ring switchover policy it is smoothly switched between high low speed, and process is as follows:
1.1.1 low-speed stage uses high-frequency signal injection, in continuous 2 pulse width modulation cycles, guarantees needed for vector controlled
Voltage vector is constant, 1 pair of generating positive and negative voltage pulse is injected in estimation d axis, this have the advantage that 1 PWM cycle need to only update 1
Secondary duty ratio, or inductance biggish motor not high for convex grey subset, each voltage pulse injection length is by double sampled double updates
Ts/ 2 increase to Ts, therefore position signal signal-to-noise ratio improves, and is more advantageous to accurate estimated location；
In formula, By formula (1) it is found thatIn include rotor position error information, phaselocked loop (Phase Lock can be used
Loop, PLL) position, velocity estimation are carried out to it, it is expressed as
1.1.2 high speed stage uses sliding mode observer method, and mentioned observer is established on α β coordinate system, same using permanent magnetism
Motor extension counter electromotive force (EEMF) model is walked, and is organized into state equation form:
In formula,Subscript s indicates α β coordinate system,Expression is estimated
Dq coordinate system is counted, amount to be estimated is
Using Integral Sliding Mode face,
In formula, sα、sβRespectively α, β axis sliding-mode surface, current estimation error areDesign SMO
Are as follows:
In formula, Reaching Law is designed as zαβ=ksmofsw(sαβ), ksmoFor SMO gain, zαβLPFFor zαβBy low-pass filter
Output afterwards, fsw () sine saturation function, subscript ∧ indicate estimated value；
When SMO convergence, EEMF estimated value are as follows:
After obtaining EEMF, using the z after low-pass filtering (LPF)αβFor location estimation, such as formula (5)；
1.1.3 stagnant ring switchover policy causes to come between two methods in order to avoid fluctuating near switching point due to speed
Switching problem is returned, stagnant ring switchover policy is designed, when revolving speed is lower than | ωeL| when, sliding mode observer method switches to high frequency injection side
Method, when revolving speed is higher than | ωeH| when, sliding mode observer method is just switched to by high-frequency signal injection, due to | ωeL|<|ωeH|, it can be with
It avoids toggling between two methods near two switching points, improves switching spot speed running stability；
The observation of 1.2 load torques and compensation, this method are based on extended state observer design (calculated) load torque observer；
The permanent magnet synchronous motor equation of motion are as follows:
In formula, b0=KT/(JPn), F0=-(Tf+TL)/(JPn) indicate integrated interference, wherein KTFor torque constant, PnFor
Number of pole-pairs, Tf、TLRespectively friction torque, load torque design second nonlinear ESO are as follows:
In formula, z1For velocity estimation, z2 is comprehensive disturbance estimation,β0, β1For observer adjustable parameter, iq
For q shaft current, designs nonlinear function fal () acquisition and compare the better convergence property of linear function, using classical fal () letter
Number is as follows:
After ESO convergence, z2As comprehensive disturbance estimated value, by z2Q axis needed for calculating current composite disturbance using formula
Electric current, and by the value direct compensation to q shaft current ring with reference to giving, so as to so that the load variation of q shaft current quick response, mentions
Highly resistance disturbs performance；
Claims (1)
1. a kind of full speed method for controlling position-less sensor of permanent magnet synchronous motor load torque compensation, which is characterized in that described
Method the following steps are included:
1.1 position rotors estimation strategy, low-speed stage estimate that rotor-position, high speed stage are seen using sliding formwork using high-frequency signal injection
It surveys device and estimates rotor-position, and design stagnant ring switchover policy it is smoothly switched between high low speed, process is as follows:
1.1.1 low-speed stage uses high-frequency signal injection, in continuous 2 pulse width modulation cycles, voltage needed for guaranteeing vector controlled
Vector is constant, injects 1 pair of generating positive and negative voltage pulse in estimation d axis；
In formula,
By formula (1) it is found thatIn include rotor position error information, it is carried out with phase-locked loop pll
Position, velocity estimation；
1.1.2 high speed stage uses sliding mode observer method, and mentioned observer is established on α β coordinate system, using permanent magnet synchronous electric
Machine extends counter electromotive force EEMF model, and is organized into state equation form:
In formula,Footmark s expression is under α β coordinate system, wait estimate
Metering is
Using Integral Sliding Mode face,
In formula, sα、sβRespectively α β axis sliding-mode surface, current estimation error areDesign SMO are as follows:
In formula, Reaching Law is designed as zαβ=ksmofsw(sαβ), ksmoFor SMO gain, zαβLPFFor zαβAfter low-pass filter
Output, fsw () sine saturation function, subscript ∧ indicate estimated value；
When SMO convergence, EEMF estimated value are as follows:
After obtaining EEMF, using the z after low-pass filtering LPFαβFor location estimation, such as formula (5)；
1.1.3 stagnant ring switchover policy, when revolving speed is lower than | ωeL| when, sliding mode observer method switches to high frequency method for implanting, when turn
Speed is higher than | ωeH| when, sliding mode observer method is just switched to by high-frequency signal injection；
1.2. load torque observation and compensation, are based on extended state observer design (calculated) load torque observer；
The permanent magnet synchronous motor equation of motion are as follows:
In formula, b0=KT/(JPn), F0=-(Tf+TL)/(JPn) indicate integrated interference, wherein KTFor torque constant, PnIt is extremely right
Number, Tf、TLRespectively friction torque, load torque design second nonlinear ESO are as follows:
In formula, z1For velocity estimation, z2Estimate for comprehensive disturbance,β0β1For observer adjustable parameter, iqFor estimation
Q shaft current, design nonlinear function fal () obtain compare the better convergence property of linear function, using classical fal () letter
Number is as follows:
After ESO convergence, z2As comprehensive disturbance estimated value, by z2Q axis electricity needed for calculating current composite disturbance using formula
Stream, and the value direct compensation to q shaft current ring, to make the load variation of q shaft current quick response, is improved into anti-interference with reference to giving
Dynamic performance；
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Cited By (4)
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| CN112713834A (en) * | 2020-12-17 | 2021-04-27 | 华中科技大学 | Permanent magnet synchronous motor position sensorless control method and system |
| CN112859612A (en) * | 2021-01-20 | 2021-05-28 | 北京航空航天大学 | High-precision controller of ultralow-speed control moment gyro frame servo system |
| CN114244227A (en) * | 2021-12-09 | 2022-03-25 | 珠海格力电器股份有限公司 | Sliding mode speed control method and device and motor speed regulation control method and device |
| CN116599410A (en) * | 2023-05-18 | 2023-08-15 | 南京理工大学 | Hyperbolic sine function-based motor speed regulation system load torque estimation method |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114244227B (en) * | 2021-12-09 | 2023-12-26 | 珠海格力电器股份有限公司 | Sliding mode speed control method and device and motor speed regulation control method and device |
| CN116599410A (en) * | 2023-05-18 | 2023-08-15 | 南京理工大学 | Hyperbolic sine function-based motor speed regulation system load torque estimation method |
| CN116599410B (en) * | 2023-05-18 | 2024-05-03 | 南京理工大学 | Hyperbolic sine function-based motor speed regulation system load torque estimation method |
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Effective date of registration: 20220208 Address after: 310051 Room 405, block a, building 1, No. 57, jianger Road, Changhe street, Binjiang District, Hangzhou, Zhejiang Province Patentee after: Hangzhou Lingxin Microelectronics Co.,Ltd. Address before: The city Zhaohui six districts Chao Wang Road Hangzhou City, Zhejiang province 310014 18 Patentee before: ZHEJIANG University OF TECHNOLOGY |