CN110247606B - Pulse injection position-sensorless switched reluctance motor control method - Google Patents

Pulse injection position-sensorless switched reluctance motor control method Download PDF

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CN110247606B
CN110247606B CN201910532340.1A CN201910532340A CN110247606B CN 110247606 B CN110247606 B CN 110247606B CN 201910532340 A CN201910532340 A CN 201910532340A CN 110247606 B CN110247606 B CN 110247606B
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phase
rotor
pulse injection
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sector
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CN110247606A (en
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孙建忠
韩润宇
白凤仙
王岩
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Dalian University of Technology
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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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
    • 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
    • H02P25/08—Reluctance motors
    • H02P25/086—Commutation
    • H02P25/089—Sensorless control

Abstract

The invention belongs to the field of switched reluctance motors, and particularly relates to a control method of a pulse injection position-sensorless switched reluctance motor. The invention adopts the self-adaptive pulse injection starting angle to control the start of pulse injection, takes the current peak value at the absolute position as a threshold value, samples the bus voltage to adjust the threshold value in real time, judges the relation between the feedback current peak value and the threshold value to switch the pulse injection phase and the rotor position, calculates the rotating speed according to the time difference between the absolute positions and further obtains the rotor position at any moment. The invention reduces the negative torque of the pulse injection method to the motor, reduces the tube consumption of the power device and increases the system efficiency, improves the position control precision, can directly carry out accurate on-off control according to the on-off angle of each phase, and increases the control flexibility.

Description

Pulse injection position-sensorless switched reluctance motor control method
Technical Field
The invention belongs to the field of switched reluctance motors, and particularly relates to a control method of a pulse injection position-sensorless switched reluctance motor.
Background
Due to the structural particularity of the switched reluctance motor, accurate rotor position detection is an important part for ensuring the reliable operation of the switched reluctance motor. Early position detection schemes include photoelectric, magnetic-sensing and proximity switches and other mechanical detection schemes, but in an environment with much oil and dust, a photoelectric sensor is likely to be soaked by dirt, so that level signal pulses are lost; in a high-temperature environment, the sensor may be damaged and fail; the interference of the high-frequency electromagnetic field may cause a decrease in the detection accuracy of the magnetosensitive element, or the like. Inaccurate or invalid position signal detection can lead to great reduction of system reliability, even cause motor stagnation and power system breakdown.
Therefore, the position information of the rotor is detected by adopting a position-sensorless technology, and the method has important significance for reducing the cost of the SRM control system, improving the reliability of the system and improving the power density of the motor.
The existing rotor position identification technology of the switched reluctance motor can be mainly divided into two main types, namely excitation phase detection technology and non-excitation phase detection technology. The excitation phase detection technique detects the torque producing phase windings of the motor and indirectly detects the rotor position using the current, voltage waveform or derivative variables (flux linkage or inductance, etc.) in the windings. The non-excitation phase detection technology injects a specific detection signal into an idle phase winding of the motor, calculates the unsaturated electromagnetic characteristic parameters of the motor by measuring the voltage and current response of the motor, and estimates to obtain the position information of the rotor.
The pulse injection method of the non-excited phase can realize four-quadrant operation, the detection pulse is injected by the main converter without an additional circuit, the method is suitable for a static state, the low-amplitude current of the detection pulse avoids a magnetic saturation effect, and the detection precision and the resolution of the method are relatively better than those of other methods under the condition of low and medium speed. However, the pulse injection phase of this method will generate a certain negative torque in the torque drop region, and the high frequency pulse injection will increase the tube loss of the power device.
Disclosure of Invention
The invention aims to solve the technical problems of overcoming the defects of the existing pulse injection position-free sensor detection method, improving the detection precision, reducing the negative influence of pulse injection on the operation of a motor and reducing negative torque and pipe consumption.
The technical scheme adopted by the invention is as follows:
a control method of a pulse injection position-sensorless switched reluctance motor adopts a self-adaptive pulse injection starting angle to control the start of pulse injection, uses a current peak value at an absolute position as a threshold value, samples bus voltage to adjust the threshold value in real time, judges the relation between a feedback current peak value and the threshold value to switch a pulse injection phase and a rotor position, calculates the rotating speed according to the time difference between the absolute positions, and further obtains the rotor position at any moment.
A control method of a pulse injection position-sensorless switched reluctance motor comprises the following steps:
because the actual current sensor and the amplifier have certain zero offset and gain error, and different sensors and amplifiers have individual difference, the detected three-phase feedback amplification current peak values have larger deviation. In order to enable the three-phase feedback amplified current peak value to have the same position relation, the difference is 120 degrees in sequence, and the three-phase feedback current peak value needs to be calibrated.
The first step is as follows: the error model of the current sensor and the amplifier is simplified, and it is considered that only the zero point offset and the gain error exist. And calibrating the three phases by taking the A phase-opposite feed current peak value as a reference, wherein the calibration formula is as follows:
Figure GDA0002618126450000031
wherein x isA,xB,xCAs actual measured values before misalignment, yA,yB,yCFor the calibrated value, kB,kCTo calibrate the slope term, bB,bCTo calibrate the intercept term.
Calibration slope term kB,kCCalibration intercept term bB,bCThe calculation method of (2) is as follows: drawing a graph of a three-phase feedback current peak value relative to a rotor position according to feedback current peak values of three-phase windings at different rotor positions, taking the graph of the A-phase feedback current peak value relative to the rotor position as a reference, firstly moving the graph of the A-phase feedback current peak value relative to the rotor position by 120 degrees of electrical angle to the left to serve as a calibration target graph of the B-phase feedback current peak value relative to the graph of the rotor position, and performing least square normal fitting on the B-phase feedback current peak value to obtain kB,bB(ii) a And then moving the graph of the A reverse feed current peak value relative to the rotor position by 240 degrees of electrical angle to the left to serve as a calibration target graph of the C reverse feed current peak value relative to the graph of the rotor position, and performing least square normal fitting on the C reverse feed current peak value to obtain kC,bC。
The second step is that: measuring the peak value of the feedback current at the absolute position update point under the rated voltage
The selection of the absolute position updating point is convenient to identify and high in identification accuracy, so that P, Q, R three position points are selected as the absolute position updating points when the three-phase pulse injection detection current is at the peak value in one electrical cycle, and P, Q, R three position points are respectively the intersection point of curves of C and A phase inductances relative to the rotor position, the intersection point of curves of A and B phase inductances relative to the rotor position, and the intersection point of curves of B and C phase inductances relative to the rotor position. Where the derivative of the current peak with respect to position is greatest and therefore the resolution for position is highest, and where the current value is larger, less disturbed and easier to detect. And the three points are directly used as phase conversion points of the pulse injection detection phase.
Electrifying the phase B, attracting the rotor to the aligned position of the phase B, stopping electrifying, keeping the position still, and carrying out pulse injection on the phase A for multiple times to obtain the average value of the peak value of the feedback current; electrifying the phase C, attracting the rotor to the position where the phase C is aligned, stopping electrifying, keeping the position still, and carrying out pulse injection on the phase A for multiple times to obtain the average value of the feedback current peak value; and taking the average value obtained by the two operations again as the feedback current peak value threshold value at the corrected absolute position updating point.
The third step: pulse injection phase switching logic
And comparing the feedback current peak value after actual detection and amplification calibration with the feedback current peak value threshold value at the absolute position after real-time scaling by the comparison voltage in the second step, and when the current value is larger than the threshold value, switching the pulse injection phase and updating the position information, and simultaneously recording the time difference from the last absolute position to the current absolute position for calculating the rotating speed.
Under the condition of positive rotation of the motor, pulse injection phase switching conditions corresponding to different sectors are as follows:
when the rotor position is in sector 1 or sector 2, the pulse injection phase is A phase at the moment, and i is satisfiedApeak＞isetU/UNForcibly updating the position of the rotor to the position of a P point, and switching the pulse injection phase into a B phase;
when the rotor position is in sector 3 or 4, the pulse injection phase is B phase, and i is satisfiedBpeak＞isetU/UNForcibly updating the position of the rotor to the position of a Q point, and switching the pulse injection phase into a C phase;
when the rotor position is in sector 5 or 6, the pulse injection phase is CPhase, satisfy iCpeak＞isetU/UNForcibly updating the position of the rotor to the position of an R point, and switching the pulse injection phase into an A phase;
under the condition of motor reverse rotation, pulse injection phase switching conditions corresponding to different sectors are as follows:
when the rotor position is in sector 1 or sector 2, the pulse injection phase is B phase, and i is satisfiedBpeak＞isetU/UNForcibly updating the position of the rotor to the position of an R point, and switching the pulse injection phase into an A phase;
when the rotor position is in sector 3 or 4, the pulse injection phase is C phase, and i is satisfiedCpeak＞isetU/UNForcibly updating the position of the rotor to the position of a P point, and switching the pulse injection phase into a B phase;
when the rotor position is in sector 5 or 6, the pulse injection phase is A phase, and i is satisfiedApeak＞isetU/UNForcibly updating the position of the rotor to the position of a Q point, and switching the pulse injection phase into a C phase;
wherein iApeak、iBpeak、iCpeakTo amplify the calibrated feedback current peak, isetUpdating the peak threshold of the feedback current at the point for the absolute position, U being the real-time bus voltage, UNIs a rated voltage.
The fourth step: adaptive pulse start angle control
Immediately after switching the pulse injection phase, if the pulse injection is directly carried out, it is found that the peak value of the detected current is far below the threshold value within a long period of time, which causes the tube consumption of redundant power devices and generates a certain negative torque, therefore, the self-adaptive pulse injection starting angle control method which changes along with the rotating speed is adopted, so that the system can stably operate, and the negative influence caused by the method is reduced.
Under the condition of positive rotation of the motor, the corresponding starting pulse injection conditions of different sectors are as follows:
when the rotor position is in sector 1 or sector 2, the pulse injection phase is A phase, and theta is more than thetaP-ΔθadjWhen the phase A is in the pulse injection state, the phase A is injected with pulses;
when the rotor position is in sector 3 or 4, the pulse injection phase is B phase, and theta > theta is satisfiedQ-ΔθadjWhen the phase B is in the pulse state, injecting pulses into the phase B;
when the rotor is positioned in the sector 5 or the sector 6, the pulse injection phase is C phase, and theta is more than thetaR-ΔθadjAt that time, the injection of pulses into phase C is started.
Under the condition of motor reverse rotation, the pulse injection starting conditions corresponding to different sectors are as follows:
when the rotor is positioned in the sector 1 or the sector 2, the pulse injection phase is the phase B, and the condition that theta is larger than theta is satisfiedR-ΔθadjWhen the phase B is in the pulse state, injecting pulses into the phase B;
when the rotor is positioned in the sector 3 or the sector 4, the pulse injection phase is the C phase, and the condition that theta is larger than theta is satisfiedP-ΔθadjWhen the pulse is injected into the phase C;
when the rotor position is in sector 5 or 6, the pulse injection phase is A phase, and theta > theta is satisfiedQ-ΔθadjAt that time, pulse injection into phase a is started.
The angle corresponding to the left edge of sector 1 is 0, and the angle corresponding to the right edge of sector 6 is the mechanical angle corresponding to one rotor pole. ThetaP、θQ、θRRotor positions, Δ θ, corresponding to three points of P, Q, R, respectivelyadjThe advance angle measure for the pulse start angle compared to the absolute position update point is adapted as shown in fig. 1.
The self-adaptive pulse starting angle is required to ensure that at least a certain detection times are carried out before the absolute position updating point is reached, and a certain angle allowance is reserved to ensure the stable operation of the system. When pulse signals with fixed frequency are injected, no matter how large the rotating speed of the switched reluctance motor is, the number of the pulse signals injected in unit time is the same, and as the rotating speed is increased, the rotating angle of the motor in the time of two pulse signals is increased, and the number of the injected pulses is reduced in the same angle range. Therefore, the adaptive pulse starting angle is related to the rotating speed, and when the rotating speed is higher, the adaptive pulse starting angle is largerΔθadjThe larger should be, the more can be calculated by:
Figure GDA0002618126450000061
in the formula, xminIndicating a set minimum number of pulse detections, n indicating a motor speed, finjWhich represents the frequency of the high-frequency voltage pulses,
Figure GDA0002618126450000062
angle allowance for ensuring reliable operation of the system.
When starting and rotating speed is low, because the rotating speed algorithm is calculated by average rotating speed, the difference value between the rotating speed algorithm and the actual rotating speed is large, the self-adaptive pulse injection starting angle control is not suitable in the stage, therefore, the detecting phase full-stage pulse injection is used when the rotating speed is below a certain rotating speed, and the self-adaptive pulse injection starting angle control is adopted after the rotating speed is higher than the rotating speed.
The fifth step: accurate calculation of rotational speed and rotor position
The rotating speed is calculated by a T speed measuring method. The time of passing two adjacent absolute position updating points is recorded by a timer, the absolute position updating points are distributed at equal intervals in an inductance period, 3 absolute position updating points are separated by 120 degrees of electrical angle, and the corresponding mechanical angle is also fixed, so that the rotating speed of the motor can be calculated. In order to ensure the stable operation of the motor, the average value of the rotating speeds corresponding to a plurality of adjacent electric cycles can be calculated and used as the calculated actual rotating speed of the motor. The calculation formula is shown as follows:
Figure GDA0002618126450000071
in the formula (f)timerRepresenting the counting frequency of the timer, p representing the number of poles of the rotor of the motor, m1...mdThe timer count values between points are updated for the d sets of adjacent absolute positions.
The frequency of the control calculation performed by the general system is fixed, and the calculation method of the rotor position can adopt digital incremental calculation, that is, the position at this moment is the position of the last moment plus the position change, and the calculation formula is shown in (4):
Figure GDA0002618126450000072
in the formula, thetanIndicating the rotor position at that moment, thetan-1The rotor position at the last moment in time is indicated,nindicating the motor speed, fculRepresenting the rotor position calculation frequency.
In addition, in order to prevent the incremental rotor position calculation method from having excessive error accumulation and further influencing the control precision, the rotor position is forcibly updated when an absolute position update point is detected, so that the calculation is more accurate.
The invention has the following obvious effects:
1. the negative torque of the motor caused by the pulse injection method is reduced.
2. The tube consumption of the power device is reduced.
3. Increasing the system efficiency.
4. The position control precision is improved, and the accurate on-off control can be directly carried out according to the on-off angle of each phase, so that the control flexibility is improved.
Drawings
Fig. 1 shows an absolute position update point of a peak threshold of a pulse injection detection current.
Fig. 2 is a graph of the peak of the three-phase pulse injection current before calibration.
Fig. 3 is a graph of the peak value of the three-phase pulse injection current after calibration.
FIG. 4 is a graph of position comparison and position error for different rotational speeds.
FIGS. 4(a) and 4(f) are the results of the detection at a rotation speed of 100 rpm; FIGS. 4(b) and 4(g) are the results of the measurement at a rotation speed of 200 rpm; FIGS. 4(c) and 4(h) are the results of the measurement at 500 rpm; FIGS. 4(d) and 4(i) are the results of the measurement at 1000 rpm; fig. 4(e) and 4(j) show the results of the detection at 1500 rpm.
Fig. 5 shows three-phase current waveforms and three-phase pulse injection feedback current waveforms under different rotation speeds.
FIGS. 5(a) and 5(f) are measurement results at a rotation speed of 100 rpm; FIGS. 5(b) and 5(g) are the results of measurements at a rotation speed of 200 rpm; FIGS. 5(c) and 5(h) are measurement results at a rotation speed of 500 rpm; FIGS. 5(d) and 5(i) are the results of measurements at a rotation speed of 1000 rpm; fig. 5(e) and 5(j) show the results of measurement at 1500 rpm.
Detailed Description
In order that the present invention may be more readily and clearly understood, a more particular description of the invention briefly described above will be rendered by reference to specific embodiments that are illustrated in the appended drawings.
Example 1: an 12/8 pole 1500rpm 5kW switched reluctance motor is taken as a model machine, the rated voltage is 60V, the voltage pulse injection frequency is 10kHz, and the duty ratio is 1/9. The current sensor adopts a 50A/5V closed-loop Hall current sensor, and the output of the current sensor is amplified by 5.7 times through an operational amplifier and then is connected to an AD conversion pin of a DSP control chip.
The current peak waveform actually measured in the experiment for one mechanical cycle is shown in fig. 2, the current peak waveform after correction is shown in fig. 3, and the correction method is as described above, and the k is obtained by performing least square normal fitting with the a-phase current peak actual measurement value as the reference through the current peak actual measurement values corresponding to 360 sets of rotor positions with the mechanical angle of 0-360 ° (interval of 1 °) to obtain the kB,kC,bB,bC1.0035, 1.0695, 170.1, 95.72, respectively.
By the method described in step two, the feedback current peak threshold at the corrected absolute position is actually measured 1302.
The experimental measurement shows that when the rotating speed is below 100rpm, the rotating speed error is large, in order to ensure the stability of the system, full-stage pulse injection control is adopted between 0rpm and 180rpm, self-adaptive pulse injection initial angle control is adopted between 120 rpm and 1500rpm, and hysteresis control is added when the control mode is switched.
The system realizes the accurate control of the on-off angle and adopts a self-adaptive on-off angle control strategy. The adaptive opening angle is calculated as follows:
Figure GDA0002618126450000091
where ω denotes a motor rotational angular velocity, LuIndicating the inductance at misaligned rotor positions, icmdIndicating a given value of winding current, UbusIndicating the dc bus voltage, with sign in positive rotation and sign in negative rotation.
In order to increase the starting torque of the motor, the positive torque generated in an inductance ascending region should be fully utilized, and single-phase and double-phase operation should be adopted at low speed; meanwhile, at high speed, in order to avoid the current tailing to the inductance reduction region to generate negative torque, the turn-off angle should be advanced properly. In order to make the system operate stably, 2 transition regions are added for smoothly switching different turn-off angles. The adaptive turn-off angle function is shown as follows:
Figure GDA0002618126450000101
in order to compare the position calculated by the improved high-frequency pulse injection method when the motor runs with the actual position, the detection position under the condition of the position sensor is used as the actual position, on the basis of software and hardware of a position sensor-free control system, hardware and detection software of the position sensor are added, the positions detected by the position sensor-free method and the position sensor-free method are stored in a control chip memory every 0.1ms, data are derived through real-time simulation test, and the position comparison and position error graph of the position sensor and the position sensor-free method is shown in fig. 4 under the condition of different rotating speeds. In the figure, (a), (b), (c), (d) and (e) are position comparison diagrams of a position sensor and a non-position sensor under different rotating speeds, and (f), (g), (h), (i) and (j) are position error diagrams of the position sensor and the non-position sensor under different rotating speeds. (a) And (f) is the detection result when the rotating speed is 100 rpm; (b) and (g) is the detection result when the rotating speed is 200 rpm; (c) and (h) the detection result when the rotating speed is 500 rpm; (d) and (i) the result of the detection at a rotation speed of 1000 rpm; (e) and (j) is the result of the detection at 1500 rpm.
The three-phase current waveform and the three-phase pulse injection feedback current waveform at different rotation speeds are shown in fig. 5. In the figure, (a), (b), (c), (d) and (e) are three-phase current waveforms under different rotating speeds, and (f), (g), (h), (i) and (j) are three-phase pulse injection feedback current waveforms under different rotating speeds. (a) And (f) is the measurement result at a rotation speed of 100 rpm; (b) and (g) is the measurement result at a rotation speed of 200 rpm; (c) and (h) is the measurement result at a rotation speed of 500 rpm; (d) and (i) is the measurement at 1000 rpm; (e) and (j) is the measurement result at the rotation speed of 1500 rpm.
The improved control method of the pulse injection position-sensorless switched reluctance motor is simple and easy to implement, can reduce the negative torque influence on the motor caused by the pulse injection method, reduce the tube consumption of a power device, increase the system efficiency, obviously improve the position control precision, can directly carry out precise on-off control according to the on-off angle of each phase, and increases the control flexibility.

Claims (2)

1. A control method of a pulse injection position-sensorless switched reluctance motor is characterized by comprising the following steps:
the first step is as follows: and calibrating the three phases by taking the A phase-opposite feed current peak value as a reference, wherein the calibration formula is as follows:
Figure FDA0002665953490000011
wherein x isA,xB,xCAs actual measured values before misalignment, yA,yB,yCFor the calibrated value, kB,kCTo calibrate the slope term, bB,bCIs a calibration intercept term;
the second step is that: measuring the peak value of the feedback current at the absolute position update point under the rated voltage
Selecting P, Q, R three position points in one electrical cycle as absolute position updating points when the three-phase pulse is injected into the peak value of the detection current, wherein P, Q, R three position points are respectively the intersection point of curves of C and A phase inductances relative to the position of the rotor, the intersection point of curves of A and B phase inductances relative to the position of the rotor, and the intersection point of curves of B and C phase inductances relative to the position of the rotor;
electrifying the phase B, attracting the rotor to the aligned position of the phase B, stopping electrifying, keeping the position still, and carrying out pulse injection on the phase A for at least two times to obtain the average value of the feedback current peak value; electrifying the phase C, attracting the rotor to the position where the phase C is aligned, stopping electrifying, keeping the position still, and carrying out pulse injection on the phase A for at least two times to obtain the average value of the feedback current peak value; taking the mean value obtained by the two operations again as the feedback current peak value threshold value at the corrected absolute position updating point;
the third step: pulse injection phase switching logic
Under the condition of positive rotation of the motor, pulse injection phase switching conditions corresponding to different sectors are as follows:
when the rotor position is in sector 1 or sector 2, the pulse injection phase is A phase at the moment, and i is satisfiedApeak＞isetU/UNForcibly updating the position of the rotor to the position of a P point, and switching the pulse injection phase into a B phase;
when the rotor position is in sector 3 or 4, the pulse injection phase is B phase, and i is satisfiedBpeak＞isetU/UNForcibly updating the position of the rotor to the position of a Q point, and switching the pulse injection phase into a C phase;
when the rotor position is in sector 5 or 6, the pulse injection phase is C phase, and i is satisfiedCpeak＞isetU/UNForcibly updating the position of the rotor to the position of an R point, and switching the pulse injection phase into an A phase;
under the condition of motor reverse rotation, pulse injection phase switching conditions corresponding to different sectors are as follows:
when the rotor position is in sector 1 or sector 2, the pulse injection phase is B phase, and i is satisfiedBpeak＞isetU/UNForcibly updating the position of the rotor to the position of an R point, and switching the pulse injection phase into an A phase;
when the rotor is in the sector3 or sector 4, the pulse injection phase is C phase, and satisfies iCpeak＞isetU/UNForcibly updating the position of the rotor to the position of a P point, and switching the pulse injection phase into a B phase;
when the rotor position is in sector 5 or 6, the pulse injection phase is A phase, and i is satisfiedApeak＞isetU/UNForcibly updating the position of the rotor to the position of a Q point, and switching the pulse injection phase into a C phase;
wherein iApeak、iBpeak、iCpeakThe feedback current peak values i after the A phase, the B phase and the C phase are respectively amplified and calibratedsetUpdating the peak threshold of the feedback current at the point for the absolute position, U being the real-time bus voltage, UNIs a rated voltage;
the fourth step: adaptive pulse start angle control
Under the condition of positive rotation of the motor, the corresponding starting pulse injection conditions of different sectors are as follows:
when the rotor position is in sector 1 or sector 2, the pulse injection phase is A phase, and theta is more than thetaP-ΔθadjWhen the phase A is in the pulse injection state, the phase A is injected with pulses;
when the rotor position is in sector 3 or 4, the pulse injection phase is B phase, and theta > theta is satisfiedQ-ΔθadjWhen the phase B is in the pulse state, injecting pulses into the phase B;
when the rotor is positioned in the sector 5 or the sector 6, the pulse injection phase is C phase, and theta is more than thetaR-ΔθadjWhen the pulse is injected into the phase C;
under the condition of motor reverse rotation, the pulse injection starting conditions corresponding to different sectors are as follows:
when the rotor is positioned in the sector 1 or the sector 2, the pulse injection phase is the phase B, and the condition that theta is larger than theta is satisfiedR-ΔθadjWhen the phase B is in the pulse state, injecting pulses into the phase B;
when the rotor is positioned in the sector 3 or the sector 4, the pulse injection phase is the C phase, and the condition that theta is larger than theta is satisfiedP-ΔθadjWhen the pulse is injected into the phase C;
when the rotor position is in sector 5 or 6, the pulse is injectedThe phase is A phase, and theta is more than thetaQ-ΔθadjWhen the phase A is in the pulse injection state, the phase A is injected with pulses;
θP、θQ、θRrotor positions, Δ θ, corresponding to three points of P, Q, R, respectivelyadjAn advance angle measure for the adaptive pulse start angle compared to the absolute position update point;
the adaptive pulse start angle is related to the rotation speed, and when the rotation speed is larger, the adaptive pulse start angle is compared with the advance angle measure delta theta of the absolute position updating pointadjThe larger should be, the more can be calculated by:
Figure FDA0002665953490000031
in the formula, xminIndicating a set minimum number of pulse detections, n indicating a motor speed, finjWhich represents the frequency of the high-frequency voltage pulses,
Figure FDA0002665953490000032
angle allowance for ensuring reliable operation of the system;
the fifth step: accurate calculation of rotational speed and rotor position
The rotating speed calculation adopts a T speed measurement method, and the calculation formula of the rotating speed n of the motor is as follows:
Figure FDA0002665953490000033
in the formula (f)timerRepresenting the counting frequency of the timer, p representing the number of poles of the rotor of the motor, m1...mdUpdating the timer count values between points for the d sets of adjacent absolute position;
rotor position θnThe calculation formula is shown as (4):
Figure FDA0002665953490000034
in the formula, thetanIndicating the rotor position at that moment, thetan-1Indicating the rotor position at the previous moment, n indicating the motor speed, fculRepresenting the rotor position calculation frequency.
2. The method of claim 1, wherein the first step calibrates the slope term kB,kCCalibration intercept term bB,bCThe calculation method of (2) is as follows: drawing a graph of a three-phase feedback current peak value relative to a rotor position according to feedback current peak values of three-phase windings at different rotor positions, taking the graph of the A-phase feedback current peak value relative to the rotor position as a reference, firstly moving the graph of the A-phase feedback current peak value relative to the rotor position by 120 degrees of electrical angle to the left to serve as a calibration target graph of the B-phase feedback current peak value relative to the graph of the rotor position, and performing least square normal fitting on the B-phase feedback current peak value to obtain kB,bB(ii) a And then moving the graph of the A reverse feed current peak value relative to the rotor position by 240 degrees of electrical angle to the left to serve as a calibration target graph of the C reverse feed current peak value relative to the graph of the rotor position, and performing least square normal fitting on the C reverse feed current peak value to obtain kC,bC。
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