CN111756288A - Method for improving estimation performance of permanent magnet synchronous motor without position sensor - Google Patents
Method for improving estimation performance of permanent magnet synchronous motor without position sensor Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, 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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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
- H02P25/024—Synchronous motors controlled by supply frequency
- H02P25/026—Synchronous motors controlled by supply frequency thereby detecting the rotor position
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
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- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention relates to a power electronic control technology, in particular to a method for improving estimation performance of a permanent magnet synchronous motor without a position sensor, which comprises the steps of establishing a mathematical model of the synchronous motor, establishing an I/F (input/output) flow frequency ratio starting scheme and a sliding-mode observer rotor position and speed estimation scheme based on an extended back electromotive force model, and aiming at the problem of current and torque jitter generated by hard switching from a low-speed section I/F to a high-speed section sliding mode, providing a novel smooth switching method, so that the transition process of torque, rotating speed and current is smooth and impact-free, and the switching process can be smoothly implemented under different load conditions from no-load to rated load. The method has the advantages of low cost, high estimation precision, high speed, high real-time performance, good robustness and strong anti-interference capability, can improve the estimation precision of the permanent magnet synchronous motor position sensorless estimation algorithm, reduces the rotor estimation error, and has guiding significance for improving the estimation performance of the permanent magnet synchronous motor position sensorless vector control system.
Description
Technical Field
The invention belongs to the technical field of power electronic control, and particularly relates to a method for improving the estimation performance of a permanent magnet synchronous motor without a position sensor.
Background
In the last decade, the problem of energy shortage has restricted the development of human society. With the discovery of high-performance rare earth permanent magnet materials and the continuous development of power electronic devices, industrial automation, robots and electric automobiles are widely used in motors. Therefore, the motor is the electrical appliance with the largest electricity consumption in a plurality of energy consumption devices. The total annual power consumption can be greatly reduced by improving the energy efficiency level and the operating efficiency of the motor, and the problem of energy shortage is solved.
The speed regulation method of the alternating current motor is mainly divided into two types: direct torque control and vector control. Although the control ideas and control theories of the two types of control are different, in order to achieve high-performance control of the motor, the two control methods both need accurate rotor position and angular speed. Therefore, in the motor control system, a position sensor such as a photoelectric encoder, a rotary transformer, etc. is generally added. Mechanical position sensors, while capable of accurately providing angular information about the rotor, can also have some negative impact on the motor control system. The price of mechanical position sensors is generally high, the cost is increased when the position sensors are installed in the motor control system, and the size of the motor driver is increased. A QEP coding interface circuit is additionally arranged between the motor and the driver, so that inconvenience is brought to engineering application, and the stability of a system is also not facilitated; the mechanical position sensor is an electromagnetic element, is greatly influenced by the operating condition of the system, and the detection precision of the mechanical position sensor is easily limited by external conditions, so that the reliability of the system is reduced; in some special applications, which are limited by operating conditions, mechanical position sensors, such as air conditioning compressor systems, cannot be used, so that the entire system cannot operate properly. The no position sensor cannot smoothly switch from the low speed section to the medium and high speed section.
Disclosure of Invention
The invention aims to provide a smooth switching method for starting an I/F (input/output) stream frequency ratio to a sliding mode observer.
In order to achieve the purpose, the invention adopts the technical scheme that: a method for improving estimation performance of a permanent magnet synchronous motor without a position sensor comprises the following steps:
step 1, establishing a mathematical model of a permanent magnet synchronous motor; decoupling the position information of the rotor into a motor extended back electromotive force mathematical model:
transforming the formula (1) into a two-phase static coordinate system through Park inverse transformation to obtain a mathematical model of the motor under the static two-phase coordinate system, wherein a motor stator voltage equation is as follows:
rewriting formula (1) to:
wherein u isα、uβIs the stator voltage component on axis of the stationary reference frame αβd、uqThe direct axis voltage and quadrature axis voltage of the stator are obtained; i.e. id、iqThe direct axis current and quadrature axis current of the stator are obtained;
the direct axis flux linkage component and the quadrature axis flux linkage component of the stator are obtained; l isd、LqThe direct axis flux linkage component and the quadrature axis flux linkage component of the stator are obtained; omegaeIs the rotor speed; p is a differential operator; l is0＝(Ld+Lq)/2，L1＝(Ld-Lq)/2；
Step 2, establishing an I/F flow frequency ratio starting mathematical model; position angle generator set position angle
And d, carrying out dq- αβ coordinate transformation on the stator current, wherein the relation among the command position angle, the rotating speed and the acceleration is as follows:
ω*＝∫kωdt (5)
starting current
And acceleration KωThe following relationship is followed:
p is a differential operator, J is a moment of inertia, KtIn order to be the torque coefficient of the motor,
estimating the torque current, TLmaxIs the maximum load torque;
step 3, constructing a sliding mode observer based on the extended back electromotive force model according to the extended back electromotive force model of the motor:
in the formula, eα＝-Eextsinθe，eβ＝EextcosθeExtended electromotive force components in α - β two-phase stationary coordinate systems;
the rotor position is extracted as follows:
wherein, | EextI is the extended back EMF amplitude, Δ e is the back EMF error value, θeIs the actual position of the rotor;
to estimate a rotor position;
when the angle error information is small, the above equation can be approximately equivalent to:
step 4, according to the constructed permanent magnet synchronous motor position-vector-free control system, the designated d for open-loop starting*q*Position angle of coordinate axis
Transition to rotor position angle theta according to set coefficientdExpressed as:
θcmdfor closed-loop control of angle, thetaestFor high-speed, non-inductive angle estimation, the parameter k determines the time required for the transition.
The invention has the beneficial effects that: the method can basically eliminate the motor speed jitter and the current jitter generated under the switching of two modes, and has important guiding significance for the smooth switching between different speed sections of the motor position-sensorless control system.
The invention is suitable for any system adopting a vector control strategy, and does not need an additional photoelectric encoder or a rotary transformer.
The method has the advantages of high estimation precision, high speed and high real-time performance, and can accurately estimate the position of the motor rotor in real time and stably run in the whole process.
The method has the advantages that the robustness is good, the anti-interference capability is strong, and the dynamic processes of motor starting, speed changing, sudden loading or sudden unloading and the like can not generate negative influence on the result of the method; the scheme is insensitive to the internal parameters of the motor and has strong anti-noise capability.
The method is simple to realize, and the method can be embedded into the control program as a subprogram without influencing or modifying the control program.
Drawings
FIG. 1 is a flow chart of a method for improving sensorless estimation performance of a permanent magnet synchronous motor according to an embodiment of the present invention;
FIG. 2(a) is a schematic diagram of phase current crossing points in an initial phase according to an embodiment of the present invention;
FIG. 2(b) is a schematic diagram of phase current crossing points during an acceleration phase according to an embodiment of the present invention;
fig. 3 is a topology of a rectifier in a method for real-time detection of an open circuit fault of a three-phase rectifier power tube according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
The embodiment provides a soft transition switching method aiming at the problem that the position-free sensor can not be switched smoothly from a low-speed section to a medium-high speed section in the prior art, so that the transition process of torque, rotating speed and current is smooth and has no impact, and the switching process can be smoothly implemented under different load conditions from no load to rated load.
As shown in fig. 1, a method for improving estimation performance of a permanent magnet synchronous motor without a position sensor includes the following steps:
s1, completely decoupling the position information of the rotor into a motor extended back electromotive force mathematical model on the basis of the mathematical model of the permanent magnet synchronous motor,
transforming the formula (1') into a two-phase static coordinate system through Park inverse transformation to obtain a mathematical model of the motor under the static two-phase coordinate system, wherein a motor stator voltage equation is as follows:
formula (2') can be rewritten as:
wherein u isα、uβIs the stator voltage component on axis of the stationary reference frame αβd、uqThe direct axis voltage and quadrature axis voltage of the stator are obtained; i.e. id、iqThe direct axis current and quadrature axis current of the stator are obtained;
the direct axis flux linkage component and the quadrature axis flux linkage component of the stator are obtained; l isd、LqThe direct axis flux linkage component and the quadrature axis flux linkage component of the stator are obtained; omegaeIs the rotor speed; p is a differential operator; l is0＝(Ld+Lq)/2，L1＝(Ld-Lq)/2；
S2, establishing an I/F flow frequency ratio starting mathematical model; position angle generator set position angle
And d, carrying out dq- αβ coordinate transformation on the stator current, wherein the relation among the command position angle, the rotating speed and the acceleration is as follows:
ω*＝∫kωdt (5′)
the larger the starting current amplitude is, the smaller the set acceleration is, the larger the disturbance tolerance of the system is, the stronger the anti-step-out capability is, and the starting current is
And acceleration KωThe following relationship is followed:
p is a differential operator, J is a moment of inertia, KtIn order to be the torque coefficient of the motor,
estimating the torque current, TLmaxIs the maximum load torque; as shown in fig. 2(a) and 2 (b);
s3, constructing the sliding mode observer based on the extended back electromotive force model according to the extended back electromotive force model of the motor, wherein as shown in FIG. 3, the mathematical model of the sliding mode observer is as follows:
in the formula, eα＝-Eextsinθe，eβ＝EextcosθeExtended electromotive force components in α - β two-phase stationary coordinate systems;
the rotor position is extracted as follows:
wherein, | EextI is the extended back EMF amplitude, Δ e is the back EMF error value, θeIs the actual position of the rotor;
to estimate the rotor position. When the angle error information is small, the above equation is approximately equivalent to
S4, correcting the rotor position by adopting a weighting coefficient according to the constructed permanent magnet synchronous motor position-free vector control systemBy angling the transition method, i.e. d, specified for open-loop start-up*q*Position angle of coordinate axis
Transition to rotor position angle theta according to set coefficientdExpressed as:
θcmdfor closed-loop control of angle, thetaestFor high-speed, non-inductive estimation of the angle parameter, k is a key factor affecting the transition process, which determines the time required for the transition process.
Through tests, the method is applied to series products of electric vehicles and series products of industrial frequency converters, the transition process of torque, rotating speed and current is smooth and has no impact, and the switching process can be smoothly implemented under different load conditions from no load to rated load.
In the embodiment, a photoelectric encoder or a rotary transformer is omitted in the motor control system, so that the size of the motor control system is reduced, the cost of the whole system is also reduced, and the motor control system has the advantages of small environmental influence factor and low system maintenance cost. And the non-inductive algorithm is widely applied to the field of electric automobiles, and has larger influence and practical value.
The I/F flow frequency ratio control is carried out in the low-speed stage, the problem that the back electromotive force of a sliding mode observer is small when the sliding mode observer runs at low speed is solved, and the error generated by estimating the position and the speed of a rotor by extracting the back electromotive force of a motor is large is solved. The smooth switching from the low speed to the high speed has important significance for the whole automobile getting on the road of the electric automobile.
The problems of overlarge rotating speed and current vibration amplitude generated by a low-speed to high-speed motor are solved, and the smooth switching from the low speed to the high speed of a non-inductive system of the motor is realized.
It should be understood that parts of the specification not set forth in detail are well within the prior art.
Although specific embodiments of the present invention have been described above with reference to the accompanying drawings, it will be appreciated by those skilled in the art that these are merely illustrative and that various changes or modifications may be made to these embodiments without departing from the principles and spirit of the invention. The scope of the invention is only limited by the appended claims.
Claims (1)
1. A method for improving the estimation performance of a permanent magnet synchronous motor without a position sensor is characterized by comprising the following steps:
step 1, establishing a mathematical model of a permanent magnet synchronous motor; decoupling the position information of the rotor into a motor extended back electromotive force mathematical model:
transforming the formula (1) into a two-phase static coordinate system through Park inverse transformation to obtain a mathematical model of the motor under the static two-phase coordinate system, wherein a motor stator voltage equation is as follows:
rewriting formula (1) to:
wherein u isα、uβIs the stator voltage component on axis of the stationary reference frame αβd、uqThe direct axis voltage and quadrature axis voltage of the stator are obtained; i.e. id、iqThe direct axis current and quadrature axis current of the stator are obtained;
the direct axis flux linkage component and the quadrature axis flux linkage component of the stator are obtained; l isd、LqThe direct axis flux linkage component and the quadrature axis flux linkage component of the stator are obtained; omegaeIs the rotor speed; p is a differential operator; l is0＝(Ld+Lq)/2，L1＝(Ld-Lq)/2；
Step 2, establishing an I/F flow frequency ratio starting mathematical model; position angle generator set position angle
And d, carrying out dq- αβ coordinate transformation on the stator current, wherein the relation among the command position angle, the rotating speed and the acceleration is as follows:
ω*＝∫kωdt (5)
starting current
And acceleration KωThe following relationship is followed:
p is a differential operator, J is a moment of inertia, KtIn order to be the torque coefficient of the motor,
estimating the torque current, TLmaxIs the maximum load torque;
step 3, constructing a sliding mode observer based on the extended back electromotive force model according to the extended back electromotive force model of the motor:
in the formula, eα＝-Eextsinθe，eβ＝EextcosθeExtended electromotive force components in α - β two-phase stationary coordinate systems;
the rotor position is extracted as follows:
wherein, | EextI is the extended back EMF amplitude, Δ e is the back EMF error value, θeIs the actual position of the rotor;
to estimate a rotor position;
when the angle error information is small, the above equation can be approximately equivalent to:
step 4, according to the constructed permanent magnet synchronous motor position-vector-free control system, the designated d for open-loop starting*q*Position angle of coordinate axis
Transition to rotor position angle theta according to set coefficientdExpressed as:
θcmdfor closed-loop control of angle, thetaestFor high-speed, non-inductive angle estimation, the parameter k determines the time required for the transition.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112436770A (en) * | 2020-11-12 | 2021-03-02 | 东风汽车有限公司 | Fault monitoring method for automobile motor speed sensor, electronic equipment and storage medium |
| CN112671298A (en) * | 2021-01-13 | 2021-04-16 | 湖南进芯电子科技有限公司 | Improved PLL (phase locked loop) non-inductive control system and algorithm for permanent magnet synchronous motor control |
| CN114513096A (en) * | 2020-11-16 | 2022-05-17 | 无锡科铭新汽车电子系统有限公司 | Speed measuring method for urea pump motor controller |
| CN115242154A (en) * | 2022-07-13 | 2022-10-25 | 重庆大学 | Self-adaptive smooth switching method for starting I-f to position sliding mode observer |
| WO2023029790A1 (en) * | 2021-08-31 | 2023-03-09 | Kinetic Technologies International Holdings Lp | A method of determining initial speed for a synchronous motor and a controller therefor |
| CN117650722A (en) * | 2023-11-30 | 2024-03-05 | 中国矿业大学 | Permanent magnet outer rotor driving elevator stable hovering control system and method |
| US12126285B2 (en) | 2023-09-08 | 2024-10-22 | Kinetic Technologies International Holdings Lp | Method of determining initial speed for a synchronous motor and a controller therefor |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112436770A (en) * | 2020-11-12 | 2021-03-02 | 东风汽车有限公司 | Fault monitoring method for automobile motor speed sensor, electronic equipment and storage medium |
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| CN112671298A (en) * | 2021-01-13 | 2021-04-16 | 湖南进芯电子科技有限公司 | Improved PLL (phase locked loop) non-inductive control system and algorithm for permanent magnet synchronous motor control |
| WO2023029790A1 (en) * | 2021-08-31 | 2023-03-09 | Kinetic Technologies International Holdings Lp | A method of determining initial speed for a synchronous motor and a controller therefor |
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| CN115242154A (en) * | 2022-07-13 | 2022-10-25 | 重庆大学 | Self-adaptive smooth switching method for starting I-f to position sliding mode observer |
| CN115242154B (en) * | 2022-07-13 | 2024-07-05 | 重庆大学 | Self-adaptive smooth switching method for I-f starting to position sliding mode observer |
| US12126285B2 (en) | 2023-09-08 | 2024-10-22 | Kinetic Technologies International Holdings Lp | Method of determining initial speed for a synchronous motor and a controller therefor |
| CN117650722A (en) * | 2023-11-30 | 2024-03-05 | 中国矿业大学 | Permanent magnet outer rotor driving elevator stable hovering control system and method |
| CN117650722B (en) * | 2023-11-30 | 2024-06-04 | 中国矿业大学 | Permanent magnet outer rotor driving elevator stable hovering control system and method |
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