CN110474587B - Position-sensorless control system and method for permanent magnet synchronous motor with high-frequency signal injection under passive control - Google Patents

Position-sensorless control system and method for permanent magnet synchronous motor with high-frequency signal injection under passive control Download PDF

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CN110474587B
CN110474587B CN201910825097.2A CN201910825097A CN110474587B CN 110474587 B CN110474587 B CN 110474587B CN 201910825097 A CN201910825097 A CN 201910825097A CN 110474587 B CN110474587 B CN 110474587B
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axis
current
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CN110474587A (en
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高晗璎
桂勇
张国强
徐睿臻
徐永明
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Harbin University of Science and 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
    • 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
    • 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
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/11—Determination or estimation of the rotor position or other motor parameters based on the analysis of high frequency signals
    • 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

Abstract

The invention provides a position sensorless control system and a position sensorless control method for a permanent magnet synchronous motor with high-frequency signal injection under passive control, belonging to the field of motor control; the invention comprises a first coordinate transformation unit, a second coordinate transformation unit and a third coordinate transformation unit, wherein the first coordinate transformation unit is used for converting three-phase current of a permanent magnet synchronous motor into d-axis current and q-axis current; a high-frequency response signal separation unit which combines the d-axis current, the q-axis current and the high-frequency injection voltage signal to generate a high-frequency response error signal; the PLL speed observer is used for obtaining the estimated value of the rotating speed and the estimated value of the position of the motor; soft switching the passive speed current regulator to obtain a d-axis voltage given value and a q-axis voltage given value; a second coordinate transformation unit for forming a modulated given voltage; the modulation unit is used for carrying out 3D-SVPWM modulation on the modulation voltage to obtain a duty ratio signal, and sending the duty ratio signal to a driving circuit to generate a driving waveform; the invention has the advantages of high power density, high operation reliability and high production efficiency.

Description

Position-sensorless control system and method for permanent magnet synchronous motor with high-frequency signal injection under passive control
Technical Field
The invention relates to the field of motor control, in particular to a control method of a position sensorless control system of a permanent magnet synchronous motor for passively controlling high-frequency signal injection.
Background
Permanent Magnet Synchronous Machines (PMSM) have the advantages of high power density, small size, high efficiency and power factor, etc. In recent years, with the reduction of the cost of permanent magnet materials and the development of microprocessors and power devices, PMSM transmission systems are widely applied to the fields of industrial control, servo, automobiles, aerospace, medical appliances and the like. In the speed regulation effect, the speed regulation range is wider and the precision is higher than that of a permanent magnet brushless motor and an asynchronous motor. In the control strategy, the current vector control and direct torque control are relatively mature and mainstream methods, and the control performance (stability, dynamic and static characteristics) of the permanent magnet synchronous motor speed regulating system can be basically close to the performance index of the direct current motor speed regulating system.
The permanent magnet motor control system needs to acquire the position or speed information of the motor rotor in real time, and generally, a high-precision mechanical position sensor is arranged on the rotor, so that although the position of the motor rotor is obtained, the system expenditure is greatly increased. In addition, the position sensor is greatly influenced by the external environment, and when the temperature, the humidity, the dust, the acidity and the like exceed certain values, the position sensor can obtain inaccurate signals, and the reliability is reduced. Therefore, the control system of the permanent magnet motor without position sensing has excellent advantages. At present, the sensorless control strategy of the permanent magnet motor is mainly divided into two types, one type is that voltage and current fundamental wave signals when the motor operates are obtained, and the rotating speed and the position information of the motor are estimated through a specific algorithm. In the low-speed or zero-speed stage of the motor, because the counter electromotive force or the stator current signal of the motor is too weak, the detection accuracy of the motor rotating speed and the position information is difficult to guarantee. The second kind of high frequency signal injection method is that high frequency voltage or current is superposed and injected to the voltage and current signal of the motor, and the high frequency current or voltage response information of the permanent magnet motor is signal processed and filtered with proper frequency filter based on the motor position information in the motor convexity, and finally the estimated signal of the rotor position is obtained via error tracking algorithm. The injected high-frequency signal response is the response of a signal obtained by superposing an external signal on the stator of the motor, so that the estimated position signal is irrelevant to the strength of the voltage and current response signal of the motor, and the high-frequency signal injection method can realize accurate estimation of the position of the motor at the zero-speed or low-speed stage of the motor and has very obvious advantages.
In the control strategy, the current vector control of the permanent magnet synchronous motor is a relatively mature and mainstream method, the control strategy is generally based on PID linear algorithm adjustment, closed-loop adjustment is realized on a control system, and the speed regulation performance of the permanent magnet synchronous motor can be comparable to that of a direct current motor in the speed regulation effect. However, the system complexity of the permanent magnet synchronous motor is very high, and the nonlinear degree of a mathematical model is very serious in the phenomenon of variable coupling of a magnetic field, current and the like, so that the PMSM is very high, and great trouble is caused for control. Meanwhile, the PMSM system is easily influenced by external environments (such as motor body parameter change, frequent load change, power grid fluctuation and the like) in the operation process, the motor operation environment is a relatively severe factory environment under most conditions, and the stability and robustness of the permanent magnet motor speed regulation system are poor only through a vector control system adjusted based on a PID linear algorithm.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, the present invention aims to provide a sensorless control system of a high-power, high-efficiency and energy-saving permanent magnet synchronous motor and a control method of a sensorless control system of a permanent magnet synchronous motor for passively controlling high-frequency signal injection, which have the advantages of high power density, high operation reliability and high production efficiency.
To achieve the above and other related objects, according to one aspect of the present invention, there is provided a position sensorless control system for a permanent magnet synchronous motor that passively controls high frequency signal injection, including:
the first coordinate transformation unit is used for transforming the three-phase current of the permanent magnet synchronous motor into d-axis current and q-axis current;
a high-frequency response signal separation unit for combining the d-axis current, the q-axis current and the high-frequency injection voltage signal to generate a high-frequency response error signal;
the PLL speed observer is used for obtaining a motor rotating speed estimated value and a motor position estimated value by utilizing the high-frequency response error signal;
the soft switching passive speed current regulator obtains a d-axis voltage given value and a q-axis voltage given value according to the d-axis current, the q-axis current, a motor given speed signal and the motor speed estimation value;
the second coordinate transformation unit is used for carrying out coordinate transformation on the d-axis given voltage value and the q-axis given voltage value to form a modulation given voltage;
and the modulation unit is used for performing 3D-SVPWM modulation on the modulation voltage to acquire a duty ratio signal and transmitting the duty ratio signal to a driving circuit to generate a driving waveform.
Further, the high frequency response error signal e generated by the high frequency response signal separating unitrrComprises the following steps:
Figure BDA0002188829310000021
further, the estimated rotor speed of the PLL speed observer is obtained by a transfer function as follows:
Figure BDA0002188829310000022
in the formula, ω*For the rotor position estimated by the PLL speed observer, err is the rotor position.
Further, the soft-switching passive tacho current regulator is:
Figure BDA0002188829310000031
in the formula udAnd uqRespectively a d-axis voltage given value and a q-axis voltage given value.
The invention provides a control method of a permanent magnet synchronous motor position sensorless control system for passively controlling high-frequency signal injection, which comprises the following steps:
collecting motor stator current, and obtaining a current signal i under a d-q coordinate system through transformation of a first coordinate conversion unitdAnd iq；
The current signal idAnd iqLinear operation is carried out with the high-frequency injection voltage signal to obtain a high-frequency response error signal err；
The high frequency response error signal errInputting the speed of the motor into a PLL speed observer, and calculating to obtain an estimated value and a position estimate of the motorCalculating a value;
the method comprises the steps of deviating a given rotating speed signal of a motor from a rotating speed estimated value of the motor, transmitting the deviation signal to a soft-switching passive rotating speed current regulator, and obtaining a current signal idAnd iqIs obtained by low-pass filtering
Figure BDA0002188829310000032
And
Figure BDA0002188829310000033
transmitting the voltage to a soft switching passive rotating speed current regulator to obtain a d-axis voltage given value and a q-axis voltage given value;
superposing the d-axis voltage given value and the high-frequency injection voltage signal to obtain a new d-axis voltage given value
Figure BDA0002188829310000034
The new d-axis voltage set value
Figure BDA0002188829310000035
Obtaining a modulation given voltage u through second coordinate transformation with the q-axis voltage given valueαrefAnd uβref；
For u is pairedαrefAnd uβrefAnd 3D-SVPWM modulation is carried out to obtain a 3D-SVPWM duty ratio signal, the 3D-SVPWM duty ratio signal is transmitted to a driving circuit to generate a PWM driving waveform, and the PWM driving waveform is transmitted to a three-phase voltage source type inverter to realize the rotation and speed regulation of the motor.
Further, the construction method of the soft-switching passive tacho current regulator comprises the following steps:
acquiring an energy function of a Hamiltonian system through a mathematical model under a dq coordinate system of the permanent magnet synchronous motor:
converting an energy function H (x) of the Hamiltonian system into a matrix form, and comparing the matrix form with a port controlled dissipation Hamiltonian standard model to obtain a PCHD model of the motor;
setting a state error signal e and soft switching coefficients a and b of a PMSM system, and substituting the state error signal and the soft switching coefficients into a PCHD model of a motor to obtain a system soft switching passive model;
and introducing an injection damping matrix to obtain the soft switching passive rotating speed current regulator.
Further, the 3D-SVPWM modulation process includes the steps of:
6 variables k are established1、k2、k3、k4、k5And k6The directions of the plane division corresponding to the directions are represented by 0 and 1;
by k1To k6Establishing a pointer variable N:
Figure BDA0002188829310000041
establishing a relation between a target vector and three basic non-zero voltage vectors and basic zero vectors;
obtaining the corresponding duty ratio of the basic vector and the zero vector duty ratio d according to the following formula0.。
Compared with the prior art, the position sensorless control system of the permanent magnet synchronous motor for passively controlling the high-frequency signal injection is provided, a mode of combining passive control and vector control is adopted in a control strategy, and the position and rotating speed information of the motor is estimated by using a novel pulse vibration high-frequency signal injection method in the aspect of position detection.
The method has the following specific advantages:
1. the position-free detection algorithm can keep very high detection precision in the low-speed and zero-speed stages of the permanent magnet synchronous motor and has very high advantages; the frequency of the novel pulse-oscillation high-frequency signal injection position-free detection algorithm is higher and is the same as the frequency of a carrier signal; the high-frequency response signal separation is carried out by adopting a linear algorithm in the signal separation, so that the link of a band-pass filter is omitted, the real-time property of the system is improved, the phase delay of the system is reduced, and the loop stability of the closed-loop system is enhanced.
2. The method adopts a soft switching passive control algorithm, and the passive control carries out controller design according to the energy function of the system, so that the method is insensitive to the parameter change of the system and the external environment interference; the parameter setting of the passive control algorithm system is simpler and easy to realize; the passive control strategy adopted by the method has very obvious advantages in the stability and robustness of the system, the soft switching strategy enables the control effect to be more stable, and the response is smoother.
3. The application adopts the soft switching passive control, and the passive system can realize the self-adaption stability as long as a proper energy function is selected in the control process. The load torque of the permanent magnet synchronous motor may change frequently under the actual working condition, and the rotating speed control precision of the motor is easy to reduce or even lose control due to sudden change of the torque. The characteristic of passive control, self-adaptive and stable can well overcome the sudden change of load torque, so that the mechanical characteristic of the permanent magnet motor is harder, and the stability and robustness of the system are improved.
4. According to the method, the passive control and the 3D-SVPWM vector control are combined, and the passive control is added on the basis of the high-precision speed regulation of the vector control, so that the stability, the anti-interference capability and the robustness of the system are greatly enhanced, the performance of the speed regulation system of the permanent magnet synchronous motor is more excellent, the sine degree of the three-phase stator current is high, and the torque pulsation is small.
Drawings
Fig. 1 is a block diagram of a sensorless control system of a passive control high-frequency signal injection method permanent magnet synchronous motor according to an embodiment of the present invention;
FIG. 2 illustrates a high frequency equivalent model of PMSM in dq coordinates according to an embodiment of the present invention;
FIG. 3 is a graph of the relationship between the actual two-phase rotational coordinate system and the estimated two-phase rotational coordinate system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a high frequency response signal separation algorithm according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a PLL tachometer according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a driving circuit according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a current sensing circuit according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of an over-current protection circuit according to an embodiment of the present invention;
FIG. 9 is a main program flow diagram of one embodiment of the present invention, FIG. 9a is a main loop flow diagram, and b is an initialization flow diagram;
FIG. 10 is a subroutine flowchart of one embodiment of the present invention;
FIG. 11 is a flowchart of a 3D-SVPWM modulation algorithm according to an embodiment of the present invention;
FIG. 12 is a schematic view of a vector-distributed dodecahedron space of an embodiment of the present invention;
FIG. 13 is a simulated waveform diagram of the actual angle and the estimated angle of the motor according to an embodiment of the present invention;
FIG. 14 is a simulated waveform diagram of actual and estimated motor speeds in accordance with an embodiment of the present invention.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the drawings only show the components related to the present invention rather than the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
As shown in fig. 1, a block diagram of a sensorless control system of a passive control high-frequency signal injection method permanent magnet synchronous motor according to a specific embodiment of the present invention is shown, where the sensorless control system of the passive control high-frequency signal injection method permanent magnet synchronous motor according to the present embodiment includes:
the first coordinate transformation unit is used for transforming the three-phase current of the permanent magnet synchronous motor into d-axis current and q-axis current;
a high-frequency response signal separation unit for combining the d-axis current, the q-axis current and the high-frequency injection voltage signal to generate a high-frequency response error signal;
the PLL speed observer is used for obtaining a motor rotating speed estimated value and a motor position estimated value by utilizing the high-frequency response error signal;
the soft switching passive speed current regulator obtains a d-axis voltage given value and a q-axis voltage given value according to the d-axis current, the q-axis current, a motor given speed signal and the motor speed estimation value;
the second coordinate transformation unit is used for carrying out coordinate transformation on the d-axis given voltage value and the q-axis given voltage value to form modulation given voltage, and the second coordinate transformation unit of the embodiment is a Park inverse transformation unit;
the 3D-SPWM modulation unit is used for carrying out 3D-SVPWM modulation on the modulation voltage to obtain a duty ratio signal, and sending the duty ratio signal to a driving circuit to generate a driving waveform;
a three-phase AC power supply drives a permanent magnet synchronous motor PMSM through a three-phase uncontrolled rectifier and a three-phase voltage inverter which are filtered by a large capacitor;
the control system core of the application adopts a DSP chip and is provided with a driving circuit, a sampling circuit, a protection circuit and the like at the periphery of the system. And programming software codes on the DSP chip to realize a novel pulse oscillation high-frequency signal injection algorithm, a soft switching passive rotating speed current regulator algorithm, a 3D-SVPWM modulation algorithm and the like.
The control circuit takes a DSP chip as a core control chip, and software code programming is carried out on the DSP chip to realize various algorithms and functions of the control system.
The chip used in the driving circuit of this embodiment is an HCPL-316J photocoupler manufactured by toshiba corporation of japan. The optocoupler driving chip has very powerful functions. The highest switching speed reaches 500ns, and the driving IGBT can completely meet the requirement; the wide working voltage range of 15 to 30V is provided, and convenience is provided for the design of a power supply circuit; the device has the functions of undervoltage protection and overvoltage protection; the overcurrent detection function of the switching tube is realized. HCPL-316J driving chipAnd peripheral circuitry as shown in figure 6. The driving chip has the protection function of a switching tube, and when the voltage drop of a collector and an emitter is detected, the voltage is measured as VCEWhen the voltage is more than 7V, a grid alarm signal is sent back to the CPU, the CPU quickly sends a driving turn-off signal, and after the fault is relieved, the CPU sends a reset signal to a pin 5 of the driving chip to recover the driving signal to work, so that the driving protection of the IGBT is realized.
The current detection module is a detection circuit module, and as shown in fig. 7, the current detection module adopts a closed-loop current hall sensor manufactured by yubo corporation and having a model number of LA-50P to detect the current of the PMSM stator. Configuring proper sampling resistor R according to input/output signal transformation ratio of Hall current sensorMTo obtain a sampling voltage UM. Will sample the voltage signal UMAfter isolation, bias, low-pass filter and clamp processing, the signal is input to the A/D port of the DSP. The voltage detection adopts a closed-loop voltage Hall sensor which is manufactured by Yubo corporation and has the model of CHV50-1000V to detect a bus voltage signal. Similar to current detection, a sampling resistor needs to be configured to obtain a sampling voltage signal, and the sampling voltage signal is transmitted to an A/D port of the DSP through processing similar to current detection.
When the motor is in overcurrent due to faults such as locked rotor or overload, the overcurrent protection circuit shown in the figure 8 is used for timely coping with the faults of the system. In the figure, a current Hall obtains a sampling signal, the sampling signal passes through a first-stage follower, then is subjected to precision rectification and then is compared with a reference voltage to obtain a fault signal, and the fault signal is sent to an I/O port of a DSP after being subjected to clamping protection. The low level of the fault signal is effective, and when the fault signal occurs, the fault signal triggers the DSP system to be interrupted, and the DSP system enters a fault protection state. The fault signal disappears and the normal state is automatically recovered.
The control method of the position sensorless control system of the permanent magnet synchronous motor for passively controlling the high-frequency signal injection comprises the following steps:
step 1, collecting motor stator current iA、iBAnd iCThe current signal i under the alpha-beta coordinate system is obtained through Clark coordinate (three-phase static coordinate system/two-phase static coordinate system) transformation in the first coordinate conversion unitα、iβThen, the current signal i under the d-q coordinate system is obtained through Park coordinate (two-phase static coordinate system/two-phase rotating coordinate system) conversiondAnd iq；
Step 2, the current signal i is processeddAnd iqThe high frequency injection voltage signal and the high frequency response signal enter a high frequency response signal separation unit together to obtain a high frequency response error signal err；
The high frequency signal injection method is most important to separate a high frequency response signal with position information when estimating the rotor position. Because the frequency of the injected signal is higher, the inductive reactance of the stator winding of the permanent magnet motor is far greater than the stator resistance of the motor, so that the resistance of the stator winding can be ignored, and the stator winding is simplified into a pure electric inductance circuit, as shown in fig. 2.
In the embodiment, a pulse vibration high-frequency signal injection method is adopted, wherein a high-frequency signal is injected on a d axis of a permanent magnet motor under dq coordinates, and after the high-frequency signal is injected, the inductance of the permanent magnet motor is saturated, so that the saliency of the permanent magnet synchronous motor is enhanced, and the pulse vibration high-frequency signal injection method can be applied to rotor position estimation of a non-salient pole permanent magnet synchronous motor (SPMSM).
The high-frequency signal injection method is mainly suitable for the zero-speed or low-speed operation state of the motor rotation, in this case, the rotation angular frequency omegaeAnd the mathematical model formula of the motor in the dq coordinate system can be reasonably simplified.
The new dq coordinate system voltage equation under the high frequency signal is shown as equation (23).
Figure BDA0002188829310000071
In the formula udhAnd uqhHigh-frequency voltages under the d-axis and q-axis, respectively; i.e. idhAnd iqhHigh-frequency currents under a d axis and a q axis respectively; l isdhAnd LqhHigh frequency inductances in the d-axis and q-axis, respectively.
The rotor position estimation error Δ θ of the high-frequency signal injection method is:
Figure BDA0002188829310000072
wherein the actual value of the rotor position is theta and the estimated value of the rotor position is theta
Figure BDA0002188829310000073
Actual two-phase rotational coordinate system (d-q coordinate system) and estimated two-phase rotational coordinate: (
Figure BDA0002188829310000074
Coordinate system) relationship is shown in fig. 3.
In an actual two-phase rotating coordinate system, i.e. dq coordinate system, the injected high-frequency signal is:
Figure BDA0002188829310000075
the coordinate transformation is used to transform equation (25) into:
Figure BDA0002188829310000076
bringing formula (26) into formula (23) yields:
Figure BDA0002188829310000081
equation (27) is simplified, and the two sides of the equation are integrated to obtain:
Figure BDA0002188829310000082
in the embodiment, the injected high frequency adopts a square wave signal, the frequency of the square wave signal is the same as that of a carrier signal of the 3D-SVPWM modulation unit, and because the frequency of the motor is higher, in each injection period of the motor, the current response change of the motor is considered to be linear, and the high frequency response signal is separated through linear calculation.
Injecting positive and negative square wave voltage to a d axis in each PWM triangular carrier period, injecting positive half-wave in the first half period T1, and injecting negative half-wave in the second half period T2, wherein T1 is T2PWMAnd/2, the injected square wave voltage is:
Figure BDA0002188829310000083
due to the high injection frequency, the current can be considered to change linearly in half a PWM period, as shown in equation (30):
Figure BDA0002188829310000084
estimating a two-phase rotating coordinate system, i.e.
Figure BDA0002188829310000085
The high-frequency signal model under the coordinate system is as follows:
Figure BDA0002188829310000086
accordingly, equation (27) varies as:
Figure BDA0002188829310000087
it is simplified as follows:
Figure BDA0002188829310000088
in formula (33), L ═ Ldh+Lqh)/2，ΔL＝(Ldh-Lqh)/2；
Bringing formula (29) into formula (33) yields:
Figure BDA0002188829310000091
as the angle approaches zero:
Figure BDA0002188829310000092
further simplifying as follows:
Figure BDA0002188829310000093
obtaining a high frequency response error signal:
Figure BDA0002188829310000094
the block diagram of the high frequency response signal separation algorithm linearized by the novel high frequency signal injection method of this embodiment is shown in fig. 4.
Step 3, separating the high-frequency signal through linear operation, and calculating a high-frequency response error signal errThe speed and position information of the motor can be estimated by inputting into a PLL speed observer based on a phase locked loop, as shown in fig. 5.
As shown in fig. 5, the transfer function of the rotor position and the rotor speed estimated by the observer is:
Figure BDA0002188829310000095
step 4, setting a motor given rotating speed signal omegarefAnd an estimate of the speed of said motor ω*Performing deviation, and transmitting deviation signal to soft-switching passive speed current regulatordAnd iqIs obtained by low-pass filtering
Figure BDA0002188829310000096
And
Figure BDA0002188829310000097
transmitting the voltage to a soft switching passive rotating speed current regulator to obtain a d-axis voltage given value and a q-axis voltage given value;
the passivity control theory is that starting from analyzing the energy change of a system, an energy storage function related to key physical quantity which the system wants to control is deduced and obtained, after the energy storage function is found, a closed-loop passivity controller is designed by a feedback closed-loop method, the most important function of the controller is that the energy storage function of the system can be stored and distributed according to expected energy storage points, the feedback energy function can be perfectly tracked to be given through effective control of energy, the overall situation of the system can be controlled, and therefore the system can stably operate at an energy balance point. The passive control is triggered from the energy perspective, is insensitive to uncertain factors such as inherent parameter change of a system and external interference, and has the strong advantage of strong robustness. In addition, the passive controller designed by the passive control theory has the advantages of few system parameters and simple parameter adjustment. Therefore, the research of the passivity control theory has very important scientific research value and engineering value.
For an m-input m-output system
Figure BDA0002188829310000101
Wherein x ∈ RnIs a state vector; u is an element of RmIs an input signal; y is formed by RmIs the output signal, y is continuously differentiable with respect to x, f (x) and h (x) function vectors of dimensions n and m, respectively, g (x) is a matrix vector of dimensions m x n, the expression of each matrix being as follows:
Figure BDA0002188829310000102
when the state of the system is zero, there are:
f(x)＝0,h(x)＝0 (3)
totaling the system (1) in an initial stateEnergy V [ x (0)]The total energy of the system at time T is expressed as V [ x (T)]Represents; using u as external input energyTAnd y represents.
For the system (1) and any external environment input signal u (t), if a semi-positive energy storage function v (x) (x ═ 0) is present, the passivity inequality is given by:
Figure BDA0002188829310000103
if so, the system can be said to be passive, and equation (4) is referred to as the passive inequality.
According to the passivity inequality (4), the left side of the equation shows the change value of the energy of the system between 0 and T, the right side of the equation represents the sum of the energy injected into the system by the external environment during the period from the initial time of the system to T, and therefore the passivity characteristic of the system is closely related to the energy of the system, the energy of the system is dissipative, and the system is stable. According to the passivity control theory, the system which meets the passive inequality has system stability.
The general form of a port controlled dissipative hamiltonian (PCHD) model expression with input and output vectors is:
Figure BDA0002188829310000104
wherein: x is the m-dimensional state vector of the system; j (x) is an n multiplied by n dimensional antisymmetric matrix which is reflected by an interconnection structure inside a Hamiltonian system, namely the matrix satisfies J (x) or-JT(x) And each element in the matrix is a smooth differentiable function with respect to x; r (x) is an n × n dimensional smooth and positive symmetric matrix depending on x, i.e., R (x) ═ R is satisfiedT(x) > 0, R (x) represents the resistive structure and characteristics of each port of the Hamiltonian system. H (x) is the Hamiltonian representing the total energy of the system, which reflects the total energy stored by the Hamiltonian; u and y are m-dimensional input and output vectors, respectively; g (x) is the m x n dimensional inputAnd the matrix reflects the port characteristics of the Hamiltonian system. When m is less than n, the Hamilton system is called as an underexcitation system; when m is n, the Hamilton system is called as a full excitation system.
Step 4.1, obtaining an energy function of the Hamiltonian system through a mathematical model under a dq coordinate system of the permanent magnet synchronous motor:
the mathematical model under the dq coordinate system of the permanent magnet synchronous motor in this embodiment is:
Figure BDA0002188829310000111
in the above formula, in the formula: u. ofd、uqRespectively representing the voltage components of the motor stator voltage on d and q axes; l isd、LqRespectively expressed as voltage components of the motor on d and q axes; omegaeRepresents an electrical angular velocity; p represents the number of pole pairs, ωmRepresenting mechanical angular velocity, B being the coefficient of friction, R representing the resistance of the stator winding of the machine, TLRepresenting the load torque, #fRepresenting the rotor flux linkage.
Setting a state variable of a PMSM control system as x, an input variable of the system as u, and an output variable matrix as y, wherein the specific formula is as follows:
Figure BDA0002188829310000112
wherein
Figure BDA0002188829310000113
From equation (6), the energy function h (x) of the hamiltonian system is obtained:
Figure BDA0002188829310000114
step 4.2, transforming the energy function H (x) of the Hamiltonian system into a matrix form, comparing the matrix form with a port controlled dissipation Hamiltonian standard model, and rewriting a formula (6) into a matrix form
Figure BDA0002188829310000121
The equation is as follows:
Figure BDA0002188829310000122
Figure BDA0002188829310000123
for the derivative of x, equation (9) is a state equation, and comparing equation (9) with equation (5) of the port controlled dissipation hamiltonian standard model, the following PCHD model of the motor can be obtained:
Figure BDA0002188829310000124
wherein:
Figure BDA0002188829310000125
Figure BDA0002188829310000126
and 4.3, in order to make the control performance of the system more stable, the passive control strategy of the embodiment introduces a soft switching characteristic through further optimization. Firstly, setting a state error signal e and soft switching coefficients a and b of a PMSM system, and then substituting the state error signal and the soft switching coefficients into a PCHD model of a motor to obtain a system soft switching passive model;
setting a state variable stable balance point x of a PMSM system*And the state error signal e are respectively expressed as:
Figure BDA0002188829310000127
formula (11) and formula (12) are taken into formula (13), and formula (13) is rewritten as:
Figure BDA0002188829310000128
Figure BDA0002188829310000129
is the derivative of e and is the equation of state. Fixed soft switching coefficient a ═ Dn/mn，b＝KF/mnWherein D isnIs a soft handover free factor that can be adjusted by the stability of the system, KFIs the soft handover sliding factor, mnIs a parameter adjusted to the actual load condition of the motor.
And (3) according to the formula (14), substituting the soft switching coefficient to obtain a system soft switching passive model:
Figure BDA0002188829310000131
wherein:
Figure BDA0002188829310000132
Figure BDA0002188829310000133
equation (15) is simplified to:
Figure BDA0002188829310000134
setting a key variable phi to simplify the right side of the equation of the formula (16) to obtain the following formula:
x*-FdD-1x*-g(x)u+Fd＝Φ (17)
and 4.4, designing the soft switching passive rotating speed current controller of the PMSM by adopting the passive control injection damping theory.
Firstly, introducing an injection damping matrix K of a PMSM soft switching passive rotating speed current controller, as shown in a formula (18):
Figure BDA0002188829310000135
setting a key variable phi-KD-1e+Ax+BFdContinuing with equation (17) to:
Figure BDA0002188829310000136
unfolding formula (19)
Figure BDA0002188829310000137
In the formula, TLIs a load torque which changes at any time, so a load observer is designed. Designing a torque observer according to a mechanical motion equation of PMSM:
Figure BDA0002188829310000138
i of PMSM control System adopted hereindAnd (5) simplifying the equations (20) and (21) to obtain a soft switching passive rotating speed current controller equation of the PMSM control system as 0:
Figure BDA0002188829310000141
step 5, superposing the d-axis voltage given value and the high-frequency injection voltage signal to obtain a new d-axis voltage given value
Figure BDA0002188829310000142
The new d-axis voltage set value
Figure BDA0002188829310000143
And the given value of the q-axis voltage is transformed by a second coordinateObtaining a modulated given voltage uαrefAnd uβref；
Step 6, for uαrefAnd uβrefAnd 3D-SVPWM modulation is carried out to obtain a 3D-SVPWM duty ratio signal, the 3D-SVPWM duty ratio signal is transmitted to a driving circuit to generate a PWM driving waveform, and the PWM driving waveform is transmitted to a three-phase voltage source type inverter to realize the rotation and speed regulation of the motor.
Switching values A, B, C, N of three-phase four-arm of the three-phase voltage-type inverter are represented by SA, SB, SC, and SN, respectively, switching states of the four arms are represented by SA, SB, SC, and SN, and 16 combinations of upper and lower tubes of a single arm of the main circuit are alternately turned on, a lower tube on upper tube off is set to 0, and a lower tube off upper tube on is set to 1. The combination of 16 switching values corresponds to 16 vectors of three-dimensional space vectors, U0To U15These 16 zero vectors are represented as shown in fig. 12.
In the three-dimensional space vector control, 16 synthesized space vectors described above are combined into a space vector diagram in the stationary coordinate system ABC. In the space dodecahedron obtained by space vector synthesis, a constraint U is establishedA＝0、UB＝0、U C0 and UA-UC>0、UB-UC>0、UA-UCAnd (3) dividing the space geometric body into 24 small geometric bodies, finding the corresponding relation with the small geometric bodies at each vector position, and forming the edge of the aggregate of each vector position by the basic vector of the synthetic sector. Therefore, the small space tetrahedron in which the target vector is positioned is judged firstly, and then the corresponding space voltage vector is found to fit the target vector. For example, let the coordinates of the target vector under the stationary coordinate system ABC be (U)4,U6,U7) And has UA>0、UB>0、UC>0、UA-UB>0、UB-UC>0、UA-UC>0, so as to first judge which small space tetrahedron the target vector is positioned in, and then obtain the non-zero space vector U4,U6,U7And fitting a target vector.
Step 6.1, the above-mentioned judging process is complicated, in order toThe process is realized more quickly and conveniently, and 6 variables k are established in the application1、k2、k3、k4、k5And k6The directions of the plane divisions corresponding thereto are represented by 0 and 1, and k is determined1To k6The value of (a) determines the exact spatial angle of the target vector, the variable k1To k6The mathematical modeling of (a) is as follows:
Figure BDA0002188829310000144
Figure BDA0002188829310000145
Figure BDA0002188829310000151
Figure BDA0002188829310000152
Figure BDA0002188829310000153
Figure BDA0002188829310000154
in the formula of UAref、UBref、UCrefIs a vector of reference voltages.
Step 6.2, utilizing k1To k6Establishing a pointer variable N:
Figure BDA0002188829310000155
the pointer variable is visible, corresponding relation exists between the pointer variable and each actual position obtained by dividing the space body, and N represents the actual position obtained by position detection in the control process, so that the actual control is carried out by utilizing N in the programming process.
And 6.3, clearly finding the position of the target vector in the three-dimensional space, finding a basic vector of a synthetic sector decomposed by the target vector, and calculating the duty ratio corresponding to the basic vector. The size of the adjustment vector is obtained by inserting a zero vector of the appropriate duty cycle. The objective is to establish a target vector expressed by a basic vector of a synthetic sector, establish an expression of a mathematical relationship with a basic vector duty ratio, reversely deduce the expression of the duty ratio, and obtain an expression (45) by applying the relationship between the target vector and three basic non-zero voltage vectors and basic zero vectors:
Figure BDA0002188829310000156
in the formula of Uref、UXrefDecomposition values (X is A, B and C) of the target vector and the target vector on each coordinate axis of the static coordinate system respectively; u shapedy_A、Udy_B、Udy_CThe decomposition value of the target vector in the static coordinate system is (y is 1,2, 3); d1,d2,d3It is the duty cycle corresponding to the base vector of the composite sector.
And 6.4, obtaining the duty ratio corresponding to the basic vector by carrying out inverse transformation on the formula (45):
Figure BDA0002188829310000157
calculating the duty ratio of the zero vector by using the relation between the non-zero vector and the zero vector, wherein the zero vector refers to U0Or U15Or U0Or U15To obtain the zero vector duty cycle d, equation (47)0：
d0＝1-d1-d2-d3 (47)
When N is equal to 1, selecting according to the established mathematical modelThe base vector of the composite sector is U8、U9、U11Calculated according to equation (46):
Figure BDA0002188829310000161
carry into UXrefObtaining:
Figure BDA0002188829310000162
by the method, the matrix corresponding to the corresponding value of other N is deduced.
Step 6.5, mixing d0，d1，d2，d3Are multiplied by the switching period T to obtain the switching time d0Is the zero vector action time.
The control method is realized through an algorithm of a control system, and specifically comprises the following steps: a soft switching passive control algorithm, a novel pulse vibration high-frequency signal injection algorithm, a coordinate transformation algorithm, a 3D-SVPWM algorithm and the like. In the embodiment, the DSP28335 is used as a control chip, the rotor position is estimated by using a novel pulse vibration high-frequency signal injection method, and a passive control strategy is adopted to realize the closed loop of the rotating speed and the current of the motor. DSP28335 needs to complete the design of the main program and the subprogram. The main program mainly comprises an initialization part and a main cycle part of a system, peripheral equipment and the like. Fig. 9 is a main program flowchart, in which fig. 9a is a main loop flowchart, and fig. 9b is an initialization flowchart.
The interrupt service subprogram completes most of the content of the control system, processes different types of interrupts according to the priorities of the different interrupts, and completes the control function of the system. The interrupt service subprogram is responsible for calculating the position and the speed of the rotor, generating the 3D-SVPWM pulse and adopting a novel pulse vibration high-frequency signal injection method. The AD interruption service subprogram is mainly responsible for sampling of current signals and realization of a coordinate transformation algorithm, a novel pulse vibration high-frequency signal injection method algorithm is realized, and the rotating speed and position information of the motor are estimated through the novel high-frequency injection algorithm.
Speed signal and current signalThe signals and the given signals participate in the closed loop of the passive controller together, so that the closed loop control of the rotating speed and the current of the motor is realized. The passive controller outputs a signal as ud、uqThe control method is characterized in that the control method participates in the 3D-SVPWM pulse width modulation technology to control the inverter, and the output of the inverter controls the motor to run. Fig. 10 shows the whole sub-program structure, and fig. 11 is a 3D-SVPWM modulation algorithm flowchart.
In order to verify the feasibility and the effectiveness of the patent, system simulation is carried out, and simulation graphs are obtained and shown in fig. 13 and 14;
1. during simulation modeling, rotor position and rotating speed information of the motor are estimated through a novel pulse vibration high-frequency signal injection algorithm. The angle of the rotor of the motor can also be obtained by the measuring end of the motor under the condition of a position sensor. The comparison of the estimated position information and the actual position to the simulation diagram is shown in fig. 12. As can be seen from the waveforms in fig. 12, the estimated rotor position can track the actual rotor position well, with small and negligible error.
2. The set rotation speed of the simulation is 500 r/min. The load is 0N · m at the initial stage of the system, the load is suddenly added at 0.1 second to 5N · m, and the comparison simulation graph of the estimated rotational speed information and the actual rotational speed information is shown in fig. 13. As can be seen from the figure, the rotating speed tracking effect of the motor is very good, the actual rotating speed almost coincides with the waveform of the estimated rotating speed, and the simulation effect of the novel pulse vibration high-frequency signal injection method is very good. The load is suddenly added in 0.1 second, the rotating speed of the motor has weak fluctuation, and then the motor is quickly stabilized to a given rotating speed. The passive control permanent magnet motor control system has strong robustness and stability.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims (4)

1. Permanent magnet synchronous motor that passive control high frequency signal injected does not have position sensor control system, its characterized in that includes:
the first coordinate transformation unit is used for transforming the three-phase current of the permanent magnet synchronous motor into d-axis current and q-axis current;
a high frequency response signal separation unit for combining the d-axis current, the q-axis current and the high frequency injection voltage signal to generate a high frequency response error signal errComprises the following steps:
Figure FDA0002855576020000011
in the formula, LdhAnd LqhHigh-frequency inductors under a d axis and a q axis respectively;
Figure FDA0002855576020000012
for estimating q-axis high-frequency current, V, in a two-phase rotating coordinate systeminIs an injected square wave voltage;
the PLL speed observer is used for obtaining a motor rotating speed estimated value and a motor position estimated value by utilizing the high-frequency response error signal;
the soft switching passive speed current regulator obtains a d-axis voltage given value and a q-axis voltage given value according to the d-axis current, the q-axis current, a motor given speed signal and the motor speed estimation value;
the second coordinate transformation unit is used for carrying out coordinate transformation on the d-axis given voltage value and the q-axis given voltage value to form a modulation given voltage;
and the modulation unit is used for carrying out 3D-SVPWM modulation on the modulated given voltage, acquiring a duty ratio signal and sending the duty ratio signal to a driving circuit to generate a driving waveform.
2. The position sensorless control system of a PMSM for passively controlling high frequency signal injection according to claim 1, wherein said soft-switching passive tacho current regulator is:
Figure FDA0002855576020000013
in the formula udrefAnd uqrefRespectively a d-axis voltage set value and a q-axis voltage set value, Ld、LqRespectively representing the inductance components of the motor on the d and q axes; omega*Is the estimated value of the motor speed; p represents the number of pole pairs, ωmRepresenting mechanical angular velocity, B being the coefficient of friction, R representing the resistance of the stator winding of the machine, TLRepresenting the load torque, #fRepresents the rotor flux linkage, mnIs a parameter adjusted to the actual load condition of the motor.
3. The control method of the permanent magnet synchronous motor position sensorless control system for passively controlling high-frequency signal injection is realized by the permanent magnet synchronous motor position sensorless control system for passively controlling high-frequency signal injection in any one of claims 1 to 2, and comprises the following steps:
collecting motor stator current, and obtaining a current signal i under a d-q coordinate system through transformation of a first coordinate conversion unitdAnd iq；
The current signal idAnd iqLinear operation is carried out with the high-frequency injection voltage signal to obtain a high-frequency response error signal err；
The high frequency response error signal errInputting the speed of the motor into a PLL speed observer, and calculating to obtain an estimated value omega of the rotating speed of the motor*And location estimate
Figure FDA0002855576020000027
The method comprises the steps of deviating a given rotating speed signal of a motor from a rotating speed estimated value of the motor, transmitting the deviation signal to a soft-switching passive rotating speed current regulator, and obtaining a current signal idAnd iqAfter low-pass filtering, transmitting the voltage to a soft-switching passive rotating speed current regulator to obtain a d-axis voltage given value and a q-axis voltage given value;
the construction method of the soft switching passive speed current regulator comprises the following steps:
the energy function of the Hamiltonian system is obtained through a mathematical model under a dq coordinate system of the permanent magnet synchronous motor, and the energy function is as follows:
Figure FDA0002855576020000021
and transforming an energy function H (x) of the Hamiltonian system into a matrix form, and comparing the matrix form with a port controlled dissipation Hamiltonian standard model to obtain a PCHD model of the motor as follows:
Figure FDA0002855576020000022
wherein the content of the first and second substances,
Figure FDA0002855576020000023
setting a state error signal e and soft switching coefficients a and b of a PMSM system, substituting the state error signal and the soft switching coefficients into a PCHD model of a motor to obtain a system soft switching passive model:
Figure FDA0002855576020000024
wherein the content of the first and second substances,
Figure FDA0002855576020000025
Figure FDA0002855576020000026
introducing an injection damping matrix to obtain a soft switching passive rotating speed current regulator:
Figure FDA0002855576020000031
the damping matrix is
Figure FDA0002855576020000032
Superposing the d-axis voltage given value and the high-frequency injection voltage signal to obtain a new d-axis voltage given value
Figure FDA0002855576020000033
The new d-axis voltage set value
Figure FDA0002855576020000034
Obtaining a modulation given voltage u through second coordinate transformation with the q-axis voltage given valueαrefAnd uβref；
For u is pairedαrefAnd uβrefAnd 3D-SVPWM modulation is carried out to obtain a 3D-SVPWM duty ratio signal, the 3D-SVPWM duty ratio signal is transmitted to a driving circuit to generate a PWM driving waveform, and the PWM driving waveform is transmitted to a three-phase voltage source type inverter to realize the rotation and speed regulation of the motor.
4. The control method of the position sensorless control system of the permanent magnet synchronous motor passively controlling the high-frequency signal injection according to claim 3, wherein the 3D-SVPWM modulation process includes the steps of:
6 variables k are established1、k2、k3、k4、k5And k6The directions of the plane division corresponding to the directions are represented by 0 and 1;
by k1To k6Establishing a pointer variable N:
Figure FDA0002855576020000035
the relationship of the target vector to the three basic non-zero voltage vectors and the basic zero vector is established as follows:
Figure FDA0002855576020000036
Uref、UXrefrespectively representing a target vector and decomposition values of the target vector under each coordinate axis of a static coordinate system, wherein X is A, B and C; u shapedy_A、Udy_B、Udy_CThe decomposition value of the target vector in the static coordinate system is 1,2 and 3; d1,d2,d3The duty ratio corresponding to the base vector of the synthesized sector;
and obtaining the duty ratio corresponding to the basic vector according to the following formula:
Figure FDA0002855576020000037
sum to zero vector duty cycle d0，d0＝1-d1-d2-d3。
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