CN110212835A - A kind of velocity estimation and device based on sliding mode observer - Google Patents
A kind of velocity estimation and device based on sliding mode observer Download PDFInfo
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- CN110212835A CN110212835A CN201910566314.0A CN201910566314A CN110212835A CN 110212835 A CN110212835 A CN 110212835A CN 201910566314 A CN201910566314 A CN 201910566314A CN 110212835 A CN110212835 A CN 110212835A
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
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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
- H02P21/13—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
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The present invention relates to a kind of velocity estimation and device based on sliding mode observer, belongs to motor control technology field, solves the problems, such as buffeting, and method includes the state equation construction sliding mode observer according to permanent magnet synchronous motor；The error dynamics equation for establishing sliding mode observer estimates the stator counter electromotive force when convergence of sliding mode observer equation as sliding mode controller function using continuous sigmoid function in the equation of the sliding mode observer；Rotor-position is calculated according to the stator counter electromotive force estimated, reckoning obtains spinner velocity.The present invention replaces traditional Discontinuous Function using continuous sigmoid function, high-frequency noise can effectively be inhibited, improve the estimated accuracy of back-emf, without carrying out low-pass filtering to counter electromotive force, rotor-position directly can be estimated by back-emf, improve systematic steady state precision and dynamic property.
Description
Technical field
The present invention relates in motor control technology field, especially a kind of velocity estimation side based on sliding mode observer
Method and device.
Background technique
In permasyn morot (PMSM) vector control system, deadlock_free scheduling passes through the phase of detection motor
Electric current and phase voltage, estimate the counter electromotive force of motor, and then observe the speed and position signal of motor, eliminate speed biography
The problems such as the installation of sensor bring, connection, debugging, improve system reliability.Speedless sensor includes sliding formwork observation
Device, Luenberger observer, Adaptive Observer, extended Kalman filter etc..Wherein, sliding mode observer have structure it is simple,
The advantages that robustness is good is a kind of more common method.But the sliding-mode surface switching function of sliding mode observer building is usually to accord with
Number function, leads to serious buffeting problem.
Summary of the invention
In view of above-mentioned analysis, the present invention is intended to provide a kind of velocity estimation and dress based on sliding mode observer
It sets, solves the problems, such as buffeting, improve the accuracy of velocity estimation, improve systematic steady state precision and dynamic property.
The purpose of the present invention is mainly achieved through the following technical solutions:
A kind of velocity estimation based on sliding mode observer, comprising:
According to state equation of the permanent magnet synchronous motor under alpha-beta coordinate system, sliding-mode surface is definedAnd structure
Make sliding mode observer；is=[iα iβ]TFor stator α, the electric current of β two-phase；For stator α, β biphase current is estimated
Evaluation；
The error dynamics equation of the sliding mode observer is established, estimates the stator when convergence of sliding mode observer equation
Counter electromotive force；
Rotor-position is calculated according to the stator counter electromotive force estimated, reckoning obtains spinner velocity；
The equation of the sliding mode observer isIn formula,Ls,RsFor stator inductance and resistance；us=[uα uβ]TFor stator
The voltage of α, β two-phase；For the turn off gain matrix of sliding mode observer；Sliding mode controller functionFor
Continuous sigmoid function.
Further, the sliding mode controller functionIn formula,A is the slope adjusting parameter of sigmoid function,For sliding-mode surface α phase current,For sliding formwork
Face β phase current.
It further, further include the condition for setting error dynamics equation asymptotically stability, the asymptotically stability condition are as follows: work as cunning
Mould observer turn off gain k >=max (| eα|,|eβ|) when, error dynamics equation asymptotically stability, eα、eβFor under alpha-beta coordinate system
Stator counter electromotive force.
Further, the stator counter electromotive force when convergence of sliding mode observer equation is estimated according to the following formula:For sliding mode observer equation convergence when stator α coordinate system under counter electromotive force, k sliding mode observer
Turn off gain,For the sigmoid function under α coordinate system；For sliding mode observer equation convergence when stator β coordinate system under
Counter electromotive force,For the sigmoid function under β coordinate system.
Further, the rotor-position is calculated using following formula according to the stator counter electromotive force estimated
A kind of velocity estimation device based on sliding mode observer, including current status observer, sliding formwork state observation
Device, sliding formwork dynamic error observation module, stator counter electromotive force estimation block and spinner velocity calculate module；
The current status observer, for establishing state equation of the permanent magnet synchronous motor under alpha-beta coordinate system；It obtains forever
The current status observed quantity of magnetic-synchro motor；
The sliding mode observer obtains the sliding formwork of permanent magnet synchronous motor for establishing sliding mode observer equation
State Viewpoint measurement；
The sliding formwork dynamic error observation module is connect with the current status observer and the sliding mode observer,
For the state equation and sliding mode observer equation calculation sliding mode observer according to permanent magnet synchronous motor under alpha-beta coordinate system
Error dynamics；
The stator counter electromotive force estimation block is connect with sliding formwork dynamic error observation module, according to the error of setting
Dynamical equation asymptotically stability condition estimates the stator counter electromotive force when convergence of sliding mode observer equation；
The spinner velocity calculates that module is connect with the stator counter electromotive force estimation block, according to the stator of the estimation
Counter electromotive force calculates rotor-position, calculates spinner velocity；
Sliding mode controller function in the sliding mode observerFor continuous sigmoid function.
Further, the continuous sigmoid functionIn formula,A is the slope adjusting parameter of S function,For sliding-mode surface α phase current,For sliding-mode surface β
Phase current.
Further, according to error dynamics equation asymptotically stability condition, when sliding mode observer turn off gain matrix k >=
max(|eα|,|eβ|) when, error dynamics equation asymptotically stability.
Further, the stator counter electromotive force when sliding mode observer equation convergence of the estimation is
Further, the rotor-position
The present invention has the beneficial effect that:
The present invention replaces traditional Discontinuous Function using continuous sigmoid function, can effectively inhibit high-frequency noise, improves
The estimated accuracy of back-emf directly can estimate rotor-position by back-emf, mention without carrying out low-pass filtering to counter electromotive force
High systematic steady state precision and dynamic property.
Detailed description of the invention
Attached drawing is only used for showing the purpose of specific embodiment, and is not to be construed as limiting the invention, in entire attached drawing
In, identical reference symbol indicates identical component.
Fig. 1 is the velocity estimation flow chart in the embodiment of the present invention；
Fig. 2 is the velocity estimation device composition connection flow chart in the embodiment of the present invention.
Specific embodiment
Specifically describing the preferred embodiment of the present invention with reference to the accompanying drawing, wherein attached drawing constitutes the application a part, and
Together with embodiments of the present invention for illustrating the principle of the present invention.
Present embodiment discloses a kind of velocity estimations based on sliding mode observer, as shown in Figure 1, including following
Step:
Step S1, the state equation according to permanent magnet synchronous motor under alpha-beta coordinate system defines sliding-mode surfaceConstruct sliding mode observer；
Wherein, is=[iα iβ]TFor stator α, the electric current of β two-phase；For stator α, the estimation of β biphase current
Value；
It specifically includes:
Step S101, state equation of the permanent magnet synchronous motor under alpha-beta coordinate system is established
Permanent magnet synchronous motor is a nonlinear and time-varying system, the state equation of the foundation under two-phase stationary coordinate system
Are as follows:
In formula, Ls,RsFor stator inductance and resistance；is=[iα iβ]TFor stator α, the electric current of β two-phase；us=[uα uβ]T
For stator α, the voltage of β two-phase；es=[eα eβ]T=[- ωrφf sinθr ωrφf cosθr]TFor determining under alpha-beta coordinate system
Sub- counter electromotive force；ωrFor motor angular rate, φfFor rotor magnetic linkage, θrFor motor corner.
Step S102, sliding mode observer is constructed
According to the theory of sliding moding structure, as long as sliding-mode surface s (x) meetsSliding mode observer can be limited
Time in reach sliding-mode surface and on it progress sliding formwork movement.According to state side of the permanent magnet synchronous motor under alpha-beta coordinate system
Journey defines sliding-mode surfaceIt is as follows to construct sliding mode observer.
In formula,For stator α, the estimated value of β biphase current；Indicate opening for sliding mode observer
Close gain matrix；For sliding mode controller function.
Traditional sliding mode controller mostly uses greatly switch function i.e.
Or sign () function is replaced with saturation function sat () in boundary layer using improved boundary layer method,
But due to the discontinuous characteristic of switch function, chattering phenomenon can be caused, in order to obtain smooth accurate counter electromotive force,
It needs low-pass filter to carry out depth filtering to counter electromotive force, but the delayed phase of observation can be brought.
Special, the sliding mode controller function of the present embodimentTraditional non-company is replaced using continuous sigmoid function
Continuous function, and then can effectively inhibit high-frequency noise, improve the estimated accuracy of back-emf.
Preferably, the present embodiment uses continuous sigmoid function are as follows:
In formula,A is the slope adjusting parameter of S function,For sliding-mode surface α phase electricity
Stream,For sliding-mode surface β phase current.
Step S2, the error dynamics equation of the sliding mode observer is established, error dynamics equation asymptotically stability is set
Condition, estimate sliding mode observer equation convergence when stator counter electromotive force；
It specifically includes:
Step S201, the error dynamics equation of sliding mode observer is established
The state equation of sliding mode observer equation and permanent magnet synchronous motor under alpha-beta coordinate system will be constructed to subtract each other, obtained
To the error dynamics equation of sliding mode observer:
Step S202, according to default error dynamics equation asymptotically stability condition, error in judgement dynamical equation asymptotically stability.
In order to investigate the convergent of above-mentioned sliding mode observer, Lyapunov function is defined are as follows:
Default error dynamics equation asymptotically stability condition are as follows:
Bring the error dynamics equation of sliding mode observer into formula (7), i.e.,
Then, meet the condition of formula (8) are as follows: k >=max (| eα|,|eβ|)。
That is, when selection k >=max (| eα|,|eβ|) when, error dynamics equation is asymptotically stability, ensure that sliding formwork is seen
Survey the convergence of device equation.
Step S203, the stator counter electromotive force when convergence of sliding mode observer equation is estimated；
When control point reaches sliding-mode surface and carries out sliding formwork movement on it,That is:
Bring formula (9) into back-emf voltage that (5) can must be estimated.
Step S3, rotor-position is calculated according to the stator counter electromotive force estimated, calculates spinner velocity；
Replace traditional Discontinuous Function that can effectively reduce sliding mode controller noncontinuity bring using sigmoid function
High-frequency Interference directly can estimate rotor-position by back-emf it is therefore not necessary to carry out low-pass filtering to counter electromotive force:
Accordingly, it is estimated that permanent-magnet synchronous motor rotor position, and go out spinner velocity in prediction on such basis.
Speed formula:
A kind of velocity estimation device based on sliding mode observer, as shown in Fig. 2, including current status observer, cunning
Mould state observer, sliding formwork dynamic error observation module, stator counter electromotive force estimation block and spinner velocity calculate module；
The current status observer, for establishing state equation of the permanent magnet synchronous motor under alpha-beta coordinate system；It obtains forever
The current status observed quantity of magnetic-synchro motor；
The sliding mode observer obtains the sliding formwork of permanent magnet synchronous motor for establishing sliding mode observer equation
State Viewpoint measurement；
The sliding formwork dynamic error observation module is connect with the current status observer and the sliding mode observer,
For the state equation and sliding mode observer equation calculation sliding mode observer according to permanent magnet synchronous motor under alpha-beta coordinate system
Error dynamics；
The stator counter electromotive force estimation block is connect with sliding formwork dynamic error observation module, according to the error of setting
Dynamical equation asymptotically stability condition estimates the stator counter electromotive force when convergence of sliding mode observer equation；
The spinner velocity calculates that module is connect with the stator counter electromotive force estimation block, according to the stator of the estimation
Counter electromotive force calculates rotor-position, calculates spinner velocity；
Sliding mode controller function in the sliding mode observerFor continuous sigmoid function.
Traditional Discontinuous Function is replaced by continuous sigmoid function, can effectively inhibit high-frequency noise, improves back-emf
Estimated accuracy.
Preferably, the continuous sigmoid functionIn formula,A is the slope adjusting parameter of S function,For sliding-mode surface α phase current,For sliding-mode surface β
Phase current.
Preferably, according to error dynamics equation asymptotically stability condition, as turn off gain matrix k >=max of sliding mode observer
(|eα|,|eβ|) when, error dynamics equation asymptotically stability.
Preferably, the stator counter electromotive force when sliding mode observer equation convergence of the estimation isError
Dynamical equation is asymptotically stability, ensure that the convergence of sliding mode observer equation.
Replace traditional Discontinuous Function that can effectively reduce sliding mode controller noncontinuity bring using sigmoid function
High-frequency Interference directly can estimate rotor-position by back-emf it is therefore not necessary to carry out low-pass filtering to counter electromotive force:
Accordingly, it is estimated that permanent-magnet synchronous motor rotor position, and go out spinner velocity in prediction on such basis.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of velocity estimation based on sliding mode observer characterized by comprising
According to state equation of the permanent magnet synchronous motor under alpha-beta coordinate system, sliding-mode surface is definedAnd construct cunning
Mould state observer；is=[iα iβ]TFor stator α, the electric current of β two-phase；For stator α, the estimation of β biphase current
Value；
The error dynamics equation of the sliding mode observer is established, stator when estimating the convergence of sliding mode observer equation is anti-electric
Kinetic potential；
Rotor-position is calculated according to the stator counter electromotive force estimated, reckoning obtains spinner velocity；
The equation of the sliding mode observer isIn formula,Ls,RsFor stator inductance and resistance；us=[uα uβ]TFor stator
The voltage of α, β two-phase；For the turn off gain matrix of sliding mode observer；Sliding mode controller function
For continuous sigmoid function.
2. velocity estimation according to claim 1, which is characterized in that the sliding mode controller functionIn formula,A is the slope tune of sigmoid function
Whole parameter,For sliding-mode surface α phase current,For sliding-mode surface β phase current.
3. velocity estimation according to claim 1, which is characterized in that further include that setting error dynamics equation is progressive steady
Fixed condition, the asymptotically stability condition are as follows: when sliding mode observer turn off gain k >=max (| eα|,|eβ|) when, error dynamics
Equation asymptotically stability, eα、eβFor the stator counter electromotive force under alpha-beta coordinate system.
4. velocity estimation according to claim 2, which is characterized in that estimate sliding mode observer equation according to the following formula
Stator counter electromotive force when convergence: For sliding mode observer equation convergence when stator α coordinate system under it is anti-
Electromotive force, the turn off gain of k sliding mode observer,For the sigmoid function under α coordinate system；For the receipts of sliding mode observer equation
The counter electromotive force under stator β coordinate system when holding back,For the sigmoid function under β coordinate system.
5. velocity estimation according to claim 4, which is characterized in that utilized according to the stator counter electromotive force estimated
Following formula calculates the rotor-position
6. a kind of velocity estimation device based on sliding mode observer, which is characterized in that including current status observer, sliding formwork
State observer, sliding formwork dynamic error observation module, stator counter electromotive force estimation block and spinner velocity calculate module；
The current status observer, for establishing state equation of the permanent magnet synchronous motor under alpha-beta coordinate system；It is same to obtain permanent magnetism
Walk the current status observed quantity of motor；
The sliding mode observer obtains the sliding formwork state of permanent magnet synchronous motor for establishing sliding mode observer equation
Observed quantity；
The sliding formwork dynamic error observation module is connect with the current status observer and the sliding mode observer, is used for
According to the mistake of state equation and sliding mode observer equation calculation sliding mode observer of the permanent magnet synchronous motor under alpha-beta coordinate system
Differential state；
The stator counter electromotive force estimation block is connect with sliding formwork dynamic error observation module, according to the error dynamics of setting
Equation asymptotically stability condition estimates the stator counter electromotive force when convergence of sliding mode observer equation；
The spinner velocity calculates that module is connect with the stator counter electromotive force estimation block, and the stator according to the estimation is anti-electric
Kinetic potential calculates rotor-position, calculates spinner velocity；
Sliding mode controller function in the sliding mode observerFor continuous sigmoid function.
7. velocity estimation device according to claim 6, which is characterized in that the continuous sigmoid functionIn formula,A is that the slope of S function adjusts
Parameter,For sliding-mode surface α phase current,For sliding-mode surface β phase current.
8. velocity estimation device according to claim 6, which is characterized in that according to error dynamics equation asymptotically stability item
Part, when sliding mode observer turn off gain matrix k >=max (| eα|,|eβ|) when, error dynamics equation asymptotically stability.
9. velocity estimation device according to claim 6, which is characterized in that the sliding mode observer equation of the estimation is restrained
When stator counter electromotive force be
10. velocity estimation device according to claim 9, which is characterized in that the rotor-position
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103715962A (en) * | 2013-12-25 | 2014-04-09 | 西安理工大学 | Permanent magnet synchronous motor sliding-mode speed observer driven by two-stage matrix converter |
| CN103872951A (en) * | 2014-04-23 | 2014-06-18 | 东南大学 | Permanent magnet synchronous motor torque control method based on sliding mode flux linkage observer |
| CN108599645A (en) * | 2018-04-18 | 2018-09-28 | 西安理工大学 | Permanent magnet synchronous motor method for controlling position-less sensor based on sliding mode observer |
| CN109167547A (en) * | 2018-08-16 | 2019-01-08 | 西安理工大学 | Based on the PMSM method for controlling position-less sensor for improving sliding mode observer |
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2019
- 2019-06-26 CN CN201910566314.0A patent/CN110212835A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103715962A (en) * | 2013-12-25 | 2014-04-09 | 西安理工大学 | Permanent magnet synchronous motor sliding-mode speed observer driven by two-stage matrix converter |
| CN103872951A (en) * | 2014-04-23 | 2014-06-18 | 东南大学 | Permanent magnet synchronous motor torque control method based on sliding mode flux linkage observer |
| CN108599645A (en) * | 2018-04-18 | 2018-09-28 | 西安理工大学 | Permanent magnet synchronous motor method for controlling position-less sensor based on sliding mode observer |
| CN109167547A (en) * | 2018-08-16 | 2019-01-08 | 西安理工大学 | Based on the PMSM method for controlling position-less sensor for improving sliding mode observer |
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Application publication date: 20190906 |