CN110165959A - A kind of permanent magnet synchronous motor active disturbance rejection method for controlling position-less sensor and control device - Google Patents
A kind of permanent magnet synchronous motor active disturbance rejection method for controlling position-less sensor and control device Download PDFInfo
- Publication number
- CN110165959A CN110165959A CN201910458220.1A CN201910458220A CN110165959A CN 110165959 A CN110165959 A CN 110165959A CN 201910458220 A CN201910458220 A CN 201910458220A CN 110165959 A CN110165959 A CN 110165959A
- Authority
- CN
- China
- Prior art keywords
- indicate
- disturbance
- estimation
- synchronous motor
- permanent magnet
- 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.)
- Granted
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
- H02P21/13—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
- 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
Abstract
A kind of permanent magnet synchronous motor active disturbance rejection method for controlling position-less sensor and control device, solving model uncertainty and external disturbance deteriorates New method for sensorless control technique of PMSM robustness, the significantly affected problem of control performance, belongs to motor control technology field.The present invention injects high frequency square wave voltage signal in the d-axis of estimation, according to the current-responsive of α β shafting, the adverse effect that voltage error generates rotor position estimate is eliminated using the method that current change quantity in the positive and negative injection period makees difference, estimates revolving speed and rotor position information；According to disturbance estimated accuracy and disturbance estimating speed, nonlinear function is established；Cascade nonlinear extension state observer is constructed using the nonlinear function of foundation, summation disturbance when to estimation revolving speed is estimated, and disturbs design control law according to the revolving speed of estimation and summation, controls using the control law permanent magnet synchronous motor.
Description
Technical field
The present invention relates to motor control technology fields, and in particular to a kind of permanent magnet synchronous motor active disturbance rejection position-sensor-free
Control method and device.
Background technique
In permanent magnet synchronous motor vector control system, obtaining accurate rotor position information is to realize exciting current and turn
The key of square current decoupled control.Traditional method is needed in rotor shaft end installation site sensor, however, position sensing
The use of device not only increases the cost and volume of system, and reduces the reliability and robustness of system.In order to further
The market competitiveness of permanent magnet synchronous motor is promoted, position Sensorless Control obtains more and more extensive concern.
In control field, how to cope with disturbance is always a great challenge.Model uncertainty and external disturbance make
New method for sensorless control technique of PMSM robustness deteriorates, and control performance is significantly affected.
Summary of the invention
Make New method for sensorless control technique of PMSM robust to solve model uncertainty and external disturbance
Property deteriorate, the significantly affected problem of control performance, the present invention proposes a kind of permanent magnet synchronous motor active disturbance rejection position sensorless
Device control method.
A kind of permanent magnet synchronous motor active disturbance rejection method for controlling position-less sensor of the invention, the method includes walking as follows
It is rapid:
S1, positive and negative note utilized according to the current-responsive of α β shafting in the d-axis injection high frequency square wave voltage signal of estimation
Enter current change quantity in the period and make the adverse effect that the method elimination voltage error of difference generates rotor position estimate, estimates revolving speed
And rotor position information；
S2, according to disturbance estimated accuracy and disturbance estimating speed, establish nonlinear function；
S3, cascade nonlinear extension state observer is constructed using the nonlinear function that S2 is established, revolving speed is estimated to S1
When summation disturbance estimated, and design control law is disturbed according to the revolving speed of estimation and summation, using the control law to permanent magnetism
Synchronous motor is controlled.
Preferably, the S1 includes:
S11, after the d-axis of estimation injects high frequency square wave voltage signal, according to the current-responsive of α β shafting, obtain positive and negative
Inject the current change quantity in the period under two-phase α β rest frameWith
S12, whenAccording toWithIt obtains and is just injected in the period under two-phase α β rest frame respectively
Current change quantity and the negative mark for injecting current change quantity difference in the period change result
Wherein, θeFor actual rotor position,To estimate rotor-position,For rotor position error, Δ
iα_puIndicate that α axis is just injecting current change quantity in the period and bearing the mark change of current change quantity difference in the injection period as a result, Δ
iβ_puIndicate that β axis is just injecting current change quantity in the period and the mark of current change quantity difference changes result in the negative injection period；
S13, basisIn conjunction with control errorUtilize observer control
ε processed converges to zero, obtains estimation rotor-positionWith estimation revolving speed
Preferably,
UhIndicate injection high frequency square wave voltage signal amplitude,WithRespectively indicate estimationShaft voltage error,
Δ T indicates sampling period, LdAnd LqRespectively indicate actual d axis and q axle inductance.
Preferably, the nonlinear function in the S2 are as follows:
Wherein, e indicates rotating-speed tracking error, and 2 δ indicate that linearity range siding-to-siding block length, α indicate the power in non-linear section section.
Preferably, cascade nonlinear extension state observer includes: nonlinear extension state observer in S31
NLESO1 and nonlinear extension state observer NLESO2, the nonlinear extension state observer NLESO1 are preliminary for estimating
Disturbance, nonlinear extension state observer NLESO2 is for estimating residual disturbance；
The model of nonlinear extension state observer NLESO1 and nonlinear extension state observer NLESO2 are respectively as follows:
With
Wherein, e1Indicate the rotating-speed tracking error of NLESO1, z1Indicate the rotating-speed tracking value of NLESO1, z2Expression is tentatively disturbed
Dynamic estimated value, s1Indicate the rotating-speed tracking value of NLESO2, s2Indicate residual disturbance estimated value, IsFor stator current amplitude, e2Table
Show the rotating-speed tracking error of NLESO2,Indicate the estimated value of control input gain, β01, β02, β03, β04It is observer gain.
Preferably, in S32, control law are as follows:
Wherein, kpFor proportional gain, ωe *For given rotating speed,Indicate estimation revolving speed, u0Indicate the output of proportional controller
Signal.
The present invention also provides a kind of permanent magnet synchronous motor active disturbance rejection position-sensorless control device, described device includes:
High frequency square wave voltage signal injection module, the d-axis for estimating in PMSM Drive System inject high frequency
Square wave voltage signal；
Revolving speed and rotor-position extraction module are eliminated voltage and are missed for making the difference current change quantity in the positive and negative injection period
The adverse effect that difference generates rotor position estimate estimates revolving speed and rotor position information；
Estimation module is disturbed, is connect with revolving speed and rotor-position extraction module, for the cascade non-linear expansion state of benefit
Summation disturbance when observer is to revolving speed and rotor-position extraction module estimation revolving speed is estimated；
The cascade nonlinear extension state observer is constructed according to nonlinear function；
Control module, while being connect with revolving speed and rotor-position extraction module and disturbance estimation module, for according to estimation
Revolving speed and summation disturbance update control law, realize control to permanent magnet synchronous motor using the control law of update.
Preferably, revolving speed and rotor-position extraction module include:
High-frequency current variable quantity extraction module obtains two in the positive and negative injection period for the current-responsive according to α β shafting
Current change quantity under phase α β rest frameWith
Difference module is done, for working asWhen, according toWithIt obtains under two-phase α β rest frame respectively
Current change quantity and the negative mark for injecting current change quantity difference in the period change result in the positive injection period
Wherein, θeFor actual rotor position,To estimate rotor-position,For rotor position error, Δ
iα_puIndicate that α axis is just injecting current change quantity in the period and bearing the mark change of current change quantity difference in the injection period as a result, Δ
iβ_puIndicate that β axis is just injecting current change quantity in the period and the mark of current change quantity difference changes result in the negative injection period；
Module is observed, basis is used forWith control errorε is controlled to receive
It holds back to zero, obtains estimation rotor-positionWith estimation revolving speed
Preferably, the nonlinear function are as follows:
Wherein, e1Indicate rotating-speed tracking error, 2 δ indicate that linearity range siding-to-siding block length, α indicate the power in non-linear section section.
Preferably, the cascade nonlinear extension state observer includes: nonlinear extension state observer
NLESO1 and nonlinear extension state observer NLESO2, the nonlinear extension state observer NLESO1 are preliminary for estimating
Disturbance, nonlinear extension state observer NLESO2 is for estimating residual disturbance；
The model of nonlinear extension state observer NLESO1 and nonlinear extension state observer NLESO2 are respectively as follows:
With
Wherein, e1Indicate the rotating-speed tracking error of NLESO1, z1Indicate the rotating-speed tracking value of NLESO1, z2Expression is tentatively disturbed
Dynamic estimated value, s1Indicate the rotating-speed tracking value of NLESO2, s2Indicate residual disturbance estimated value, IsFor stator current amplitude, e2It indicates
The rotating-speed tracking error of NLESO2,Indicate the estimated value of control input gain, β01, β02, β03, β04It is observer gain.
Beneficial effects of the present invention are right by being superimposed injection high frequency square wave voltage signal on permanent magnet synchronous motor voltage
Current change quantity in the positive and negative injection period makees difference processing, improves rotor position estimate to the robustness of voltage error.Meanwhile
The present invention rapidly and accurately estimates and compensates to disturbance using nonlinear function, realizes the adjusting to revolving speed high robust.
Detailed description of the invention
Fig. 1 is the principle of the present invention schematic diagram；
Fig. 2 is the schematic illustration of revolving speed and rotor-position extraction module；
Fig. 3 is the functional image of conventional linear function, traditional nonlinear function and nonlinear function proposed by the present invention
Comparison；
Fig. 4 is control module of the present invention and the schematic illustration for disturbing estimation module；
When Fig. 5 is that permanent magnet synchronous motor runs on 100r/min, disturbed under conditions of the load of 100% slope is added and subtracted in 0.5s
Dynamic estimation performance test is as a result, be followed successively by disturbance estimated value, disturbance evaluated error and phase current experimental waveform under upper；
When Fig. 6 is that permanent magnet synchronous motor runs on 100r/min, added and subtracted in 0.5s rigid under conditions of the load of 100% slope
Performance test is spent as a result, being respectively actual speed, estimation revolving speed and phase current experimental waveform under upper；
Fig. 7 is that the maximum speed of permanent magnet synchronous motor under different operating statuses fluctuates three-dimensional figure；
Fig. 8 is permanent magnet synchronous motor recovery time three-dimensional figure under different operating statuses.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art without creative labor it is obtained it is all its
His embodiment, shall fall within the protection scope of the present invention.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
The present invention will be further explained below with reference to the attached drawings and specific examples, but not as the limitation of the invention.
Embodiment 1: the present embodiment is a kind of permanent magnet synchronous motor active disturbance rejection method for controlling position-less sensor, including three
Step: step 1: high frequency square wave voltage signal is injected in the d-axis of estimation, according to the current-responsive of α β shafting, to positive and negative injection
Current change quantity makees difference processing in period, part related with voltage error can be offset, to eliminate voltage error to rotor
The adverse effect that location estimation generates.Eliminate the adverse effect that generates to rotor position estimate of voltage error, then, by signal into
Rower change processing, to improve the robustness to Injection Signal amplitude and inductance value, rotor position error is approximately zero, i.e.,The difference of current change quantity is the cosine and sine signal comprising rotor position information in the positive and negative injection period, according to the packet
Cosine and sine signal estimation revolving speed and rotor position information containing rotor position information；Step 2: comprehensively consider disturbance estimated accuracy
And speed, propose nonlinear function, step 3: summation when using cascade nonlinear extension state observer to estimation revolving speed
Disturbance is estimated that the revolving speed and summation disturbance further according to estimation obtain control law.
In preferred embodiment, step 1 is specifically included:
The high frequency square wave voltage vector injected isIt will removeVoltage in addition is equivalent to voltage error vectorCause
This, is applied to the virtual voltage vector of motor winding terminalFor being superimposed for high frequency square wave voltage vector and voltage error vector, it may be assumed that
Wherein: With
Respectively represent the d-axis of estimation and the unit vector in quadrature axis direction, UhTo inject high frequency square wave voltage signal amplitude, k is used to refer to
The positive negativity of high frequency square wave voltage signal is injected,WithIt respectively representsShaft voltage error.
When permanent magnet synchronous motor runs on zero low speed domain, and Injection Signal frequency is significantly larger than motor operation frequency, electricity
Machine can approximation be considered as pure inductive load.High frequency voltage equation of the permanent magnet synchronous motor under two-phase rotating coordinate system are as follows:
Wherein: udhAnd uqhRespectively dq shafting stator frequency voltage components, idhAnd iqhRespectively represent dq shafting stator high frequency
Current component, LdAnd LqRespectively d axis and q axle inductance.
It is available by means of coordinate transform:
Wherein: θeFor actual rotor position,To estimate rotor-position,Pass for rotor position error, between them
System are as follows:In addition, R () is matrixing, it is specific as follows shown:
Formula (1) is substituted into formula (3), in the available positive and negative injection period under two-phase stationary coordinate system (α β shafting)
High-frequency current variable quantity, respectively as shown in formula (5) and formula (6):
Wherein: Δ iαh_p、Δiβh_pRespectively α β shafting high-frequency current variable quantity, Δ i just in the injection periodαh_n、Δiβh_n
It is negative respectively and injects α β shafting high-frequency current variable quantity in the period, Δ T is the sampling period.
Current change quantity includes fundamental component variable quantity and high fdrequency component variable quantity, due to fundamental frequency point in a control period
Measure almost unchanged, then α β shafting current change quantity is approximately equal to high-frequency current variable quantity, it may be assumed that
Therefore, during rotor position estimate, high-frequency current component is extracted without using high-pass filter.According to formula
(5) and formula (6) can be seen that voltage error influences the observation of current change quantity, further result in rotor position estimate precision drop
It is low.In order to solve this problem, carry out current change quantity in the α β shafting positive and negative injection period to make poor processing, can offset with
The related part of voltage error, to eliminate the adverse effect that voltage error generates rotor position estimate.Then, by signal into
Rower change processing, to improve the robustness to Injection Signal amplitude and inductance value.It is assumed that rotor position error is approximately zero,
I.e.The cosine and sine signal shown in formula (8) comprising rotor position information then can be obtained:
In turn, scalar product shown in formula (9) is finally restrained using observer control ε for obtaining rotor position error signal
To zero, to realize the observation of revolving speed and rotor-position.
Above-mentioned observer is PI observer, Luenberger observer or extended state observer etc..
Further, nonlinear function is established in step 2, specifically:
When due to power in 0 to 1 range, power function derivative near origin is not present, and easily leads to state variable height
Frequency vibration is swung, therefore power function is transformed into linear function near origin, forms traditional nonlinear function fal (e, α, δ),
Its function expression are as follows:
Wherein: 2 δ and α are respectively the siding-to-siding block length of linearity range and the power of non-linear section.In general, the value of δ is less than 1.
As 0 < α < 1, fal () function has " small error, large gain；The characteristics of big error, small gain ", for certain disturbances, shape
State error can quickly and accurately restrain；Particularly, as α=1, fal (e, α, δ) is changed into linear function, i.e. fal (e,
α, δ)=e.
From the angle of disturbance estimated accuracy, observed using the non-linear expansion state of traditional nonlinear function fal (e, α, δ)
Device (NLESO) is more suitable for reply and changes slower disturbance, and uses the linear extended state observer (LESO) of linear function e more
Processing variation is good to disturb faster.Therefore, conventional linear and nonlinear extension state observer have the disturbance model of each self application
It encloses.
From the angle of disturbance estimating speed, when rotating-speed tracking error meetsWhen, NLESO disturbs evaluated error
It being capable of fast convergence；And when rotating-speed tracking error meetsWhen, disturbance evaluated error convergence time is longer.Therefore,
The section of traditional nonlinear function penalty is transformed into linear function, and in order to guarantee continuity and slickness, is introduced
Offset, and then nonlinear function efal (e, α, δ) is formed, in preferred embodiment, the nonlinear function of present embodiment is expressed
Formula are as follows:
As α=0.5, the expression formula of efal (e, 0.5, δ) are as follows:
Fig. 3 is the functional image of conventional linear function, traditional nonlinear function and nonlinear function proposed by the present invention
Comparison.
Further, the step of present embodiment three specifically:
In permanent magnet synchronous motor vector control system, torque capacity/electric current (MTPA) vector control mode is widely used,
By the reluctance torque for making full use of d-axis and quadrature axis magnetic circuit asymmetry to generate, the load capacity of permanent magnet synchronous motor can be improved
And operational efficiency, under torque capacity/Current Vector Control mode, electromagnetic torque equation are as follows:
Wherein: IsFor stator current amplitude, γ is stator magnetic linkage and permanent magnet flux linkage ψfBetween space electrical angle, npFor
Number of pole-pairs.Based on formula (13) and mechanical motion equation, estimation revolving speed expression formula can be derived are as follows:
Wherein:
In above-mentioned formula,For control input gain b estimated value, because it is related to γ, so its value needs basis
The size dynamic of load torque adjusts.F refers to be estimated and compensation summation disturbance comprising reluctance torque, load torque
Disturbance, viscous friction and parameter uncertainty etc..The expression formula (17) disturbed from summation can be seen that in some cases, phase
Than in id=0 control, it is smaller using the internal permanent magnet synchronous motor disturbance estimation burden of MTPA control.Therefore, based on certainly
In the internal permanent magnet synchronous motor drive system of disturbance rejection control, MTPA is controlled compared with id=0 control has more advantage, reluctance torque
It in the presence of reduction copper loss is not only facilitated, improves efficiency, and disturbance estimation burden can be reduced in some cases, improve disturbance
Estimate performance.In addition, subscript " ^ " represents estimated value, TLFor load torque, B is viscous friction coefficient, and J is rotary inertia, ωeFor
Actual speed.
It enablesAnd summation disturbance f is extended to state variable x2, it is assumed that x2Bounded, can be micro-, andThen formula
(14) expansion state equation are as follows:
According to formula (18) as can be seen that when disturbance is changed in the form of slope, shock wave rate h is non-zero constant value,
Extended state observer is inevitably present steady-state error to the observation of state variable.In consideration of it, in order to further improve expansion
Performance is estimated in the disturbance of state observer, using cascade nonlinear extension state observer real-time estimation " summation disturbance ",
Wherein NLESO1 is responsible for preliminary disturbance estimation, and NLESO2 is responsible for residual disturbance estimation, the mathematical model point of NLESO1 and NLESO2
It Wei formula (19) and formula (20):
Wherein: e1Indicate the rotating-speed tracking error of NLESO1, z1Indicate the rotating-speed tracking value of NLESO1, z2Expression is tentatively disturbed
Dynamic estimated value, s1Indicate the rotating-speed tracking value of NLESO2, s2Indicate residual disturbance estimated value, e2Indicate the rotating-speed tracking of NLESO2
Error,Indicate the estimated value of control input gain, β01, β02, β03, β04It is observer gain, z1And s1It is used to track shape
State variable x1, z2With s2Summation effect be responsible for quickly and accurately reconstruct " summation disturbance " x2。
In order to realize the control target of integral form system, the disturbance estimated value z of cascade NLESO is utilized2+s2Carry out disturbance benefit
It repays, therefore control law is designed to:
Wherein: kpFor proportional gain, ωe *For given rotating speed.Since automatic disturbance rejection controller can automatically generate integral action,
So the control output signal u of present embodiment0It is designed proportional controller shown in an accepted way of doing sth (22).
Embodiment 2: the present embodiment is to provide a kind of permanent magnet synchronous motor active disturbance rejection position-sensorless control device, is wrapped
It includes:
High frequency square wave voltage signal injection module, the d-axis for estimating in PMSM Drive System inject high frequency
Square wave voltage signal；
Revolving speed and rotor-position extraction module are eliminated voltage and are missed for making the difference current change quantity in the positive and negative injection period
The adverse effect that difference generates rotor position estimate estimates revolving speed and rotor position information；
Estimation module is disturbed, is connect with revolving speed and rotor-position extraction module, for utilizing cascade non-linear expansion shape
Summation disturbance when state observer is to revolving speed and rotor-position extraction module estimation revolving speed is estimated；
The cascade nonlinear extension state observer is constructed according to nonlinear function；
Control module, while being connect with revolving speed and rotor-position extraction module and disturbance estimation module, for according to estimation
Revolving speed and summation disturbance update control law, using update control law export control signal realization to permanent magnet synchronous motor
Control.
Fig. 1 is entire block diagram of the invention, and Δ T is PWM switch periods, and high frequency square wave voltage signal injection module is being estimated
D-axis injection the period be 4 Δ T high frequency square wave voltage signal, pass through the current-responsive i modulated to salient poleαAnd iβCarry out signal
Processing, revolving speed and rotor-position extraction module can extract revolving speed and rotor position information, wherein estimating rotor-positionWith
It is converted in Park and anti-Park.The input signal of control module of the invention is given rotating speed ωe *With estimation revolving speedBy
Including cascade nonlinear extension state observer real-time estimation includes model uncertainty and external disturbance " summation is disturbed
It is dynamic ", and design control law, utilize disturbance estimated value z2+s2Disturbance compensation is carried out, to realize system to revolving speed high robust
It adjusts.The output signal of control module is stator current amplitude Is, according to torque capacity/current control mode constraint condition,
The given value of current signal i of two-phase rotating coordinate system (dq axis) can be generatedd *And iq *, dq shaft current feedback signal idAnd iqBy sampling
The three-phase current i that resistance sampling arrivesabcIt is obtained by coordinate transform (Clarke transformation and Park transformation), then passes through electric current loop
Voltage signal u is obtained after the available voltage signal of PI controller, with the high frequency square wave voltage Signal averaging of injectiondAnd uq, utilize
Anti- Park converts to obtain voltage signal uαAnd uβ.Space vector pulse width modulation is used to obtain the switch of three-phase inverter SVPWM
Sequence Sabc, so that permanent magnet synchronous motor PMSM be driven to run.Encoder is used to obtain actual rotor location information θe, then pass through
The available actual speed information ω of differentiale, in order to compared with their estimated value.
Fig. 2 is the schematic illustration of revolving speed of the invention and rotor position information extraction module, passes through the positive and negative injection period
The mode that interior current change quantity makees difference improves rotor position estimate to the robustness of voltage error.Revolving speed and rotor position information mention
Modulus block includes high-frequency current variable quantity extraction module, does difference module and observation module.High-frequency current variable quantity extraction module root
According to the current-responsive of α β shafting, obtainWithDifference module is done to obtain current change quantity in the positive injection period and bear
The mark for injecting current change quantity difference in the period changes resultObservation module control ε converges to zero, obtains estimation rotor
PositionWith estimation revolving speed
Fig. 4 is the schematic illustration of control module of the present invention, and the disturbance using nonlinear cascade extended state observer is estimated
Meter module is rapidly and accurately estimated that disturbance, the control law that control module passes through design again carries out disturbance compensation.
When Fig. 5 is that permanent magnet synchronous motor runs on 100r/min, disturbed under conditions of the load of 100% slope is added and subtracted in 0.5s
Dynamic estimation performance test as a result, be followed successively by disturbance estimated value, disturbance evaluated error and phase current experimental waveform from top to bottom.From
As can be seen that cascade NLESO eliminates the steady-state error of disturbance estimation during plus-minus carries in figure, realize quick to disturbing
And accurately estimate.
When Fig. 6 is that permanent magnet synchronous motor runs on 100r/min, added and subtracted in 0.5s rigid under conditions of the load of 100% slope
Performance comparison experimental result is spent, is followed successively by actual speed, estimation revolving speed and phase current experimental waveform from top to bottom.It can from figure
To find out, non-linear automatic disturbance rejection controller of the present invention effectively eliminates revolving speed offset during adding and subtracting and carrying, real
Adjusting of the system to revolving speed high robust is showed.
Fig. 7 is that the maximum speed of permanent magnet synchronous motor under different operating statuses fluctuates three-dimensional figure, and shade represents maximum
The size of velocity perturbation, color is deeper, is worth smaller.Fig. 8 is permanent magnet synchronous motor recovery time three-dimensional figure under different operating statuses,
Color is deeper, and recovery time is smaller.It can be seen that under different operating statuses from Fig. 7 and Fig. 8, filled based on control of the invention
The permanent magnet synchronous motor maximum speed fluctuation set and recovery time are smaller, and system shows stronger Immunity Performance.
The present invention can also have other various embodiments, without deviating from the spirit and substance of the present invention, this field
Technical staff makes various corresponding changes and modifications in accordance with the present invention, but these corresponding changes and modifications all should belong to
The protection scope of the appended claims of the present invention.
Above to a kind of permanent magnet synchronous motor active disturbance rejection method for controlling position-less sensor provided by the present invention and device
It is described in detail, used herein a specific example illustrates the principle and implementation of the invention, the above reality
The explanation for applying example is merely used to help understand method and its core concept of the invention；Meanwhile for the general technology of this field
Personnel, according to the thought of the present invention, there will be changes in the specific implementation manner and application range, in conclusion this theory
Bright book content should not be construed as limiting the invention.
Claims (10)
1. a kind of permanent magnet synchronous motor active disturbance rejection method for controlling position-less sensor, which is characterized in that the method includes as follows
Step:
S1, the d-axis injection high frequency square wave voltage signal in estimation utilize positive and negative injection week according to the current-responsive of α β shafting
The method that current change quantity makees difference in phase eliminates the adverse effect that voltage error generates rotor position estimate, estimates revolving speed and turns
Sub- location information；
S2, according to disturbance estimated accuracy and disturbance estimating speed, establish nonlinear function；
S3, cascade nonlinear extension state observer is constructed using the nonlinear function that S2 is established, when to S1 estimation revolving speed
Summation disturbance is estimated, and disturbs design control law according to the revolving speed of estimation and summation, using the control law to permanent-magnet synchronous
Motor is controlled.
2. permanent magnet synchronous motor active disturbance rejection method for controlling position-less sensor according to claim 1, which is characterized in that institute
Stating S1 includes:
S11, estimation d-axis inject high frequency square wave voltage signal after, according to the current-responsive of α β shafting, obtain positive and negative injection
Current change quantity in period under two-phase α β rest frameWith
S12, whenAccording toWithIt is obtained under two-phase α β rest frame respectively and is just injecting electric current in the period
Variable quantity and the negative mark for injecting current change quantity difference in the period change result
Wherein, θeFor actual rotor position,To estimate rotor-position, For rotor position error, Δ iα_puTable
Show that α axis is just injecting current change quantity in the period and bearing the mark change of current change quantity difference in the injection period as a result, Δ iβ_puTable
Show that β axis is just injecting current change quantity in the period and the mark of current change quantity difference changes result in the negative injection period；
S13, basisIn conjunction with control errorIt is received using observer control ε
It holds back to zero, obtains estimation rotor-positionWith estimation revolving speed
3. permanent magnet synchronous motor active disturbance rejection method for controlling position-less sensor according to claim 2, which is characterized in that
UhIndicate injection high frequency square wave voltage signal amplitude,WithRespectively indicate estimationShaft voltage error, Δ T
Indicate sampling period, LdAnd LqRespectively indicate actual d axis and q axle inductance.
4. permanent magnet synchronous motor active disturbance rejection method for controlling position-less sensor according to claim 1 or 3, feature exist
In nonlinear function in the S2 are as follows:
Wherein, e indicates rotating-speed tracking error, and 2 δ indicate that linearity range siding-to-siding block length, α indicate the power in non-linear section section.
5. permanent magnet synchronous motor active disturbance rejection method for controlling position-less sensor according to claim 4, which is characterized in that
In S31, cascade nonlinear extension state observer includes: nonlinear extension state observer NLESO1 and non-linear expansion shape
State observer NLESO2, the nonlinear extension state observer NLESO1 are for estimating tentatively to disturb, non-linear expansion state
Observer NLESO2 is for estimating residual disturbance；
The model of nonlinear extension state observer NLESO1 and nonlinear extension state observer NLESO2 are respectively as follows:
With
Wherein, e1Indicate the rotating-speed tracking error of NLESO1, z1Indicate the rotating-speed tracking value of NLESO1, z2Indicate that preliminary disturbance is estimated
Evaluation, s1Indicate the rotating-speed tracking value of NLESO2, s2Indicate residual disturbance estimated value, IsFor stator current amplitude, e2It indicates
The rotating-speed tracking error of NLESO2,Indicate the estimated value of control input gain, β01, β02, β03, β04It is observer gain.
6. permanent magnet synchronous motor active disturbance rejection method for controlling position-less sensor according to claim 5, which is characterized in that
In S32, control law are as follows:
Wherein, kpFor proportional gain, ωe *For given rotating speed,Indicate estimation revolving speed, u0Indicate the output letter of proportional controller
Number.
7. a kind of permanent magnet synchronous motor active disturbance rejection position-sensorless control device, which is characterized in that described device includes:
High frequency square wave voltage signal injection module, the d-axis for estimating in PMSM Drive System inject high frequency square wave
Voltage signal；
Revolving speed and rotor-position extraction module eliminate voltage error pair for making the difference current change quantity in the positive and negative injection period
The adverse effect that rotor position estimate generates estimates revolving speed and rotor position information；
Estimation module is disturbed, is connect with revolving speed and rotor-position extraction module, for being seen using cascade non-linear expansion state
Summation disturbance of the device to revolving speed and rotor-position extraction module estimation revolving speed when is surveyed to estimate；
The cascade nonlinear extension state observer is constructed according to nonlinear function；
Control module, while being connect with revolving speed and rotor-position extraction module and disturbance estimation module, for turning according to estimation
Speed and summation disturbance update control law, and the control to permanent magnet synchronous motor is realized using the control law of update.
8. a kind of permanent magnet synchronous motor active disturbance rejection position-sensorless control device according to claim 7, feature exist
In revolving speed and rotor-position extraction module include:
High-frequency current variable quantity extraction module obtains two-phase α β in the positive and negative injection period for the current-responsive according to α β shafting
Current change quantity under rest frameWith
Difference module is done, for working asWhen, according toWithPositive injection under two-phase α β rest frame is obtained respectively
Enter current change quantity in the period and the mark of current change quantity difference changes result in the negative injection period
Wherein, θeFor actual rotor position,To estimate rotor-position, For rotor position error, Δ iα_puTable
Show that α axis is just injecting current change quantity in the period and bearing the mark change of current change quantity difference in the injection period as a result, Δ iβ_puTable
Show that β axis is just injecting current change quantity in the period and the mark of current change quantity difference changes result in the negative injection period；
Module is observed, basis is used forWith control errorControl ε is converged to
Zero, obtain estimation rotor-positionWith estimation revolving speed
9. a kind of permanent magnet synchronous motor active disturbance rejection position-sensorless control device according to claim 7 or 8, feature
It is, the nonlinear function are as follows:
Wherein, e1Indicate rotating-speed tracking error, 2 δ indicate that linearity range siding-to-siding block length, α indicate the power in non-linear section section.
10. a kind of permanent magnet synchronous motor active disturbance rejection position-sensorless control device according to claim 9, feature exist
In the cascade nonlinear extension state observer includes: nonlinear extension state observer NLESO1 and non-linear expansion
State observer NLESO2, the nonlinear extension state observer NLESO1 are for estimating tentatively to disturb, non-linear expansion shape
State observer NLESO2 is for estimating residual disturbance；
The model of nonlinear extension state observer NLE SO1 and nonlinear extension state observer NLESO2 are respectively as follows:
With
Wherein, e1Indicate the rotating-speed tracking error of NLESO1, z1Indicate the rotating-speed tracking value of NLESO1, z2Indicate that preliminary disturbance is estimated
Evaluation, s1Indicate the rotating-speed tracking value of NLESO2, s2Indicate residual disturbance estimated value, IsFor stator current amplitude, e2It indicates
The rotating-speed tracking error of NLESO2,Indicate the estimated value of control input gain, β01, β02, β03, β04It is observer gain.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910458220.1A CN110165959B (en) | 2019-05-29 | 2019-05-29 | Active-disturbance-rejection position-sensorless control method and control device for permanent magnet synchronous motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910458220.1A CN110165959B (en) | 2019-05-29 | 2019-05-29 | Active-disturbance-rejection position-sensorless control method and control device for permanent magnet synchronous motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110165959A true CN110165959A (en) | 2019-08-23 |
| CN110165959B CN110165959B (en) | 2020-11-13 |
Family
ID=67630098
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910458220.1A Active CN110165959B (en) | 2019-05-29 | 2019-05-29 | Active-disturbance-rejection position-sensorless control method and control device for permanent magnet synchronous motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110165959B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111245330A (en) * | 2020-02-29 | 2020-06-05 | 天津工业大学 | Permanent magnet motor square wave injection position-sensorless control method based on oversampling |
| CN112054734A (en) * | 2020-09-02 | 2020-12-08 | 湖南大学 | Low-speed non-speed sensor MTPA control method and system of permanent magnet synchronous motor |
| CN112234880A (en) * | 2020-11-04 | 2021-01-15 | 湖南大学 | MTPA control method, device, equipment and storage medium for permanent magnet synchronous motor |
| CN112953328A (en) * | 2021-02-06 | 2021-06-11 | 滕琦 | Active-disturbance-rejection control method for permanent magnet synchronous motor of electric vehicle |
| CN114865932A (en) * | 2022-07-06 | 2022-08-05 | 哈尔滨工业大学 | Pulse load power supply system and control method |
| CN117254735A (en) * | 2023-09-15 | 2023-12-19 | 四川大学 | Position-sensor-free active disturbance rejection control method based on high-frequency square wave injection |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101630938A (en) * | 2009-07-28 | 2010-01-20 | 哈尔滨工业大学 | Method for identifying initial position of rotor of permanent magnet synchronous motor of non-position sensor |
| US20120292499A1 (en) * | 2011-05-17 | 2012-11-22 | Shimadzu Corporation | Ion trap device |
| CN106788054A (en) * | 2017-01-05 | 2017-05-31 | 上海应用技术大学 | A kind of Speed Sensorless Control Method based on rotation high-frequency signal injection and fuzzy PI hybrid control |
| CN107370432A (en) * | 2017-08-28 | 2017-11-21 | 南京理工大学 | A kind of ultrahigh speed permagnetic synchronous motor method for controlling number of revolution based on ARC |
| US20180138841A1 (en) * | 2016-06-22 | 2018-05-17 | Faraday&Future Inc. | Detecting position measurement errors in an electric motor system |
| CN108900129A (en) * | 2018-07-20 | 2018-11-27 | 华中科技大学 | A kind of position-sensor-free method for controlling permanent magnet synchronous motor, device and system |
-
2019
- 2019-05-29 CN CN201910458220.1A patent/CN110165959B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101630938A (en) * | 2009-07-28 | 2010-01-20 | 哈尔滨工业大学 | Method for identifying initial position of rotor of permanent magnet synchronous motor of non-position sensor |
| US20120292499A1 (en) * | 2011-05-17 | 2012-11-22 | Shimadzu Corporation | Ion trap device |
| US20180138841A1 (en) * | 2016-06-22 | 2018-05-17 | Faraday&Future Inc. | Detecting position measurement errors in an electric motor system |
| CN106788054A (en) * | 2017-01-05 | 2017-05-31 | 上海应用技术大学 | A kind of Speed Sensorless Control Method based on rotation high-frequency signal injection and fuzzy PI hybrid control |
| CN107370432A (en) * | 2017-08-28 | 2017-11-21 | 南京理工大学 | A kind of ultrahigh speed permagnetic synchronous motor method for controlling number of revolution based on ARC |
| CN108900129A (en) * | 2018-07-20 | 2018-11-27 | 华中科技大学 | A kind of position-sensor-free method for controlling permanent magnet synchronous motor, device and system |
Non-Patent Citations (1)
| Title |
|---|
| GAOLIN WANG ET AL.: "Enhanced Linear ADRC Strategy for HF Pulse Voltage Signal Injection-Based Sensorless IPMSM Drives", 《IEEE TRANSACTIONS ON POWER ELECTRONICS》 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111245330A (en) * | 2020-02-29 | 2020-06-05 | 天津工业大学 | Permanent magnet motor square wave injection position-sensorless control method based on oversampling |
| CN112054734A (en) * | 2020-09-02 | 2020-12-08 | 湖南大学 | Low-speed non-speed sensor MTPA control method and system of permanent magnet synchronous motor |
| CN112234880A (en) * | 2020-11-04 | 2021-01-15 | 湖南大学 | MTPA control method, device, equipment and storage medium for permanent magnet synchronous motor |
| CN112234880B (en) * | 2020-11-04 | 2022-05-27 | 湖南大学 | MTPA control method, device, equipment and storage medium for permanent magnet synchronous motor |
| CN112953328A (en) * | 2021-02-06 | 2021-06-11 | 滕琦 | Active-disturbance-rejection control method for permanent magnet synchronous motor of electric vehicle |
| CN114865932A (en) * | 2022-07-06 | 2022-08-05 | 哈尔滨工业大学 | Pulse load power supply system and control method |
| CN114865932B (en) * | 2022-07-06 | 2022-09-13 | 哈尔滨工业大学 | Pulse load power supply system and control method |
| CN117254735A (en) * | 2023-09-15 | 2023-12-19 | 四川大学 | Position-sensor-free active disturbance rejection control method based on high-frequency square wave injection |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110165959B (en) | 2020-11-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110165959A (en) | A kind of permanent magnet synchronous motor active disturbance rejection method for controlling position-less sensor and control device | |
| Xie et al. | Minimum-voltage vector injection method for sensorless control of PMSM for low-speed operations | |
| CN106655942B (en) | Permanent magnet synchronous motor method for controlling position-less sensor | |
| Liu et al. | Novel sensorless control strategy with injection of high-frequency pulsating carrier signal into stationary reference frame | |
| Benjak et al. | Review of position estimation methods for IPMSM drives without a position sensor part I: Nonadaptive methods | |
| CN106788071A (en) | A kind of method for improving permanent-magnet synchronous motor rotor position estimated accuracy | |
| Wu et al. | Initial rotor position detection for sensorless interior PMSM with square-wave voltage injection | |
| CN101682283B (en) | Sensor-less control device for permanent-magnet synchronous electric motor | |
| CN107171608B (en) | A kind of permanent magnet synchronous motor without sensor initial position detection method | |
| Kim et al. | High performance position sensorless control using rotating voltage signal injection in IPMSM | |
| CN102201770A (en) | Method for injecting harmonic voltage to restrain harmonic current of PMSM (permanent magnet synchronous motor) | |
| Yoon et al. | High bandwidth sensorless algorithm for AC machines based on square-wave type voltage injection | |
| Chung et al. | Initial rotor position detection of PMSM at standstill without rotational transducer | |
| CN103825525A (en) | Improved sensor-less permanent magnetic synchronous motor speed estimation method | |
| CN102545740A (en) | Low-speed position sensorless control method for surface mounted permanent magnet synchronous motor | |
| CN103986393A (en) | Method for detecting initial position of rotor of permanent magnet synchronous motor | |
| Wang et al. | Improved fast method of initial rotor position estimation for interior permanent magnet synchronous motor by symmetric pulse voltage injection | |
| CN108258963A (en) | Permanent-magnet synchronous motor rotor position discrimination method | |
| CN106026831B (en) | A kind of Current Decoupling method under position Sensorless Control | |
| Song et al. | Sensorless control of surface permanent magnet synchronous motor using a new method | |
| Wang et al. | Sensorless control of a novel IPMSM based on high-frequency injection | |
| CN111987959A (en) | Sensorless control method for permanent magnet synchronous motor | |
| CN107134965A (en) | Embedded permanent magnet synchronous rotor position angle method of estimation | |
| Andreescu et al. | Enhancement sensorless control system for PMSM drives using square-wave signal injection | |
| Liu et al. | Research on initial rotor position estimation for SPMSM |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |