CN112019103B - Algorithm simplified five-phase permanent magnet synchronous motor rotor position angle observation method - Google Patents

Algorithm simplified five-phase permanent magnet synchronous motor rotor position angle observation method Download PDF

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CN112019103B
CN112019103B CN202010876967.1A CN202010876967A CN112019103B CN 112019103 B CN112019103 B CN 112019103B CN 202010876967 A CN202010876967 A CN 202010876967A CN 112019103 B CN112019103 B CN 112019103B
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voltage
frequency
rotor position
position angle
phase
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CN112019103A (en
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周扬忠
吴京周
杨公德
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Fuzhou University
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Fuzhou University
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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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/183—Circuit arrangements for detecting position without separate position detecting elements using an injected high frequency signal
    • 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
    • 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

Abstract

The invention relates to a five-phase permanent magnet synchronous motor rotor position angle observation method with simplified algorithm. Injecting a high-frequency voltage signal of amplitude pulse vibration by adopting a third harmonic plane; extracting high-frequency carrier zero-sequence voltage by using a balance resistance network central point and a motor winding central point which are connected in parallel to the end part of the 5-phase winding; and demodulating the zero sequence voltage of the high-frequency carrier by using a band-pass filter, a 3-time high-frequency sinusoidal signal in a proper form, a low-pass filter, a PI (proportional-integral) regulator and an integrator to finally obtain an observed value of the position angle of the rotor. The invention simplifies the extraction and processing algorithm of the error signal, improves the sensitivity of the observer and ensures that the motor runs more stably.

Description

Algorithm simplified five-phase permanent magnet synchronous motor rotor position angle observation method
Technical Field
The invention relates to a five-phase permanent magnet synchronous motor rotor position angle observation method with simplified algorithm.
Background
The multi-phase permanent magnet synchronous motor has the advantages of high efficiency, multi-degree-of-freedom control and the like, is widely applied to the fields of rail transit, military equipment, aerospace and the like, has the advantages, has the characteristic of less relative phase number, and reduces the cost of a driving system.
Similar to a three-phase system, the control of the instantaneous torque and the magnetic field of the five-phase permanent magnet synchronous motor directly determines the advantages and disadvantages of the dynamic and steady-state performances of the drive system formed by the five-phase permanent magnet synchronous motor, and the accurate acquisition of the rotor position angle of the motor is the key in the control process. The rotor position angle can be measured by adopting a rotor position angle physical sensor, such as a rotary encoder, a rotary transformer and the like, but the method reduces the reliability of a driving system and improves the hardware cost of the system; the rotor position angle can also be observed by means of electrical variables measurable by the motor, namely a rotor position angle observation method, and the method well avoids the defects of a physical sensor measurement method.
Similar to a three-phase system, there are two types of conventional methods for observing the position and angle of a rotor of a multiphase permanent magnet synchronous motor: one is based on the fundamental signal construction method; the other is based on high frequency signal injection. The former can only be applied to the middle and high speed operation areas of the motor; the latter effectively solves the observation of the rotor position angle in the low-speed operation area of the rotor, but at present, high-frequency signals are injected in a fundamental wave plane, and the defects exist as follows: (1) the high-frequency signal of the fundamental wave plane brings about large pulsation of torque, and the stability of system operation is influenced; (2) the fundamental plane injection method needs more sampling channels and more signal extraction links, and the algorithm is complex; (3) harmonic signal frequency in an error function in the fundamental plane injection method is low, and gain of an observer is low, so that the requirement on signal processing is high.
Aiming at the problems, the invention provides a rotor position angle observation method with simplified algorithm and high sensitivity for a five-phase permanent magnet synchronous motor driving system.
Disclosure of Invention
The invention aims to provide a five-phase permanent magnet synchronous motor rotor position angle observation method with simplified algorithm, which simplifies the extraction and processing algorithm of error signals, improves the sensitivity of an observer and enables the motor to run more stably.
In order to achieve the purpose, the technical scheme of the invention is as follows: a five-phase permanent magnet synchronous motor rotor position angle observation method with simplified algorithm adopts a third harmonic plane to inject a high-frequency voltage signal with amplitude pulse vibration; extracting high-frequency carrier zero-sequence voltage by using a balance resistance network central point and a motor winding central point which are connected in parallel to the end part of the 5-phase winding; and demodulating the zero sequence voltage of the high-frequency carrier by using a band-pass filter, a 3-time high-frequency sinusoidal signal, a low-pass filter, a PI (proportional-integral) regulator and an integrator to finally obtain an observed value of the position angle of the rotor.
In an embodiment of the present invention, the method specifically includes the following steps:
step S1, injecting high-frequency voltage signals of amplitude pulse vibration by adopting a third harmonic plane, and extracting high-frequency carrier zero-sequence voltage U by utilizing a balance resistance network center point and a motor winding center point which are connected in parallel with the end part of the 5-phase windingRN；
Step S2, carrying out zero sequence voltage U on the high-frequency carrier waveRNFeed center frequency of 3 omegahThe band-pass filter outputs a high-frequency carrier zero-sequence voltage U'RN；
Step S3, carrying out zero sequence voltage U 'on the high-frequency carrier wave'RNUnit amplitude sine signal
Figure BDA0002652909050000021
Is sent to a multiplier to obtain
Figure BDA0002652909050000022
Figure BDA0002652909050000023
Is the observed rotor position angle;
step S4, the
Figure BDA0002652909050000024
Feed cut-off frequency of 0.6 omegahOutput error signal
Figure BDA0002652909050000025
Step S5, the
Figure BDA0002652909050000026
Sending to PI regulator, and outputting rotor rotation electrical angular velocity observed value
Figure BDA0002652909050000027
Figure BDA0002652909050000028
Wherein k ispω、kiωProportional coefficients and integral coefficients of a PI regulator in the rotor rotating electrical angular velocity observer are respectively;
step S6, the
Figure BDA0002652909050000029
Feeding to an integrator, outputting rotor position angle observations
Figure BDA00026529090500000210
Figure BDA00026529090500000211
Wherein k isiθIs the integral coefficient of an integrator in the rotor position angle observer.
In an embodiment of the present invention, the step S1 of injecting the high-frequency voltage signal of amplitude pulse vibration using the third harmonic plane includes the following specific steps:
s11, calculating the voltage setting of alpha axis and beta axis of fundamental plane for controlling electromagnetic torque and magnetic field of motor according to vector control or direct torque control strategy
Figure BDA00026529090500000212
S12, calculating the voltage setting of the alpha axis and the beta axis of the 3-order harmonic plane for controlling the 3-order harmonic of the motor according to the 3-order harmonic plane control strategy
Figure BDA00026529090500000213
S13, rotor position angle based on observation
Figure BDA00026529090500000214
High frequency voltage frequency omegahAnd voltage peak value UmCalculating 5-phase high-frequency voltage setting
Figure BDA00026529090500000215
Figure BDA00026529090500000216
Wherein the content of the first and second substances,
Figure BDA0002652909050000031
the included angle electrical angle of adjacent windings;
s14, using T5 matrix, the method comprises
Figure BDA0002652909050000032
The transformation is carried out to the 3 rd harmonic plane,obtaining high-frequency voltage alpha-axis and beta-axis components injected by 3-order harmonic plane
Figure BDA0002652909050000033
Figure BDA0002652909050000034
Figure BDA0002652909050000035
Wherein the content of the first and second substances,
Figure BDA0002652909050000036
the given values of the alpha axis and beta axis components of the high-frequency voltage injected into the fundamental plane,
Figure BDA0002652909050000037
setting a zero sequence voltage value;
s15, using adder to realize
Figure BDA0002652909050000038
And
Figure BDA0002652909050000039
correspondingly adding to obtain the alpha-axis and beta-axis components of the 3 rd harmonic plane voltage with high-frequency voltage
Figure BDA00026529090500000310
Figure BDA00026529090500000311
S16, setting the fundamental plane voltage
Figure BDA00026529090500000312
Figure BDA00026529090500000312
3 th harmonic plane voltage given
Figure BDA00026529090500000313
Sending the voltage to a 5-phase space voltage vector modulation or pulse width modulation module, and outputting a switching state signal S for driving A-E phase bridge arms of a 5-phase inverter bridgeA～SE；
S17, switch state signal SA～SEThe voltage of the direct current bus is UDCThe 5-phase inverter realizes the high-frequency voltage signal injection of the motor with 3 times amplitude pulse oscillation.
In an embodiment of the invention, the unit amplitude sinusoidal signal in the step S3
Figure BDA00026529090500000314
Is observed by rotor position
Figure BDA00026529090500000315
Frequency omega of high frequency signalhAnd (4) calculating.
Compared with the prior art, the invention has the following beneficial effects:
(1) the method comprises the steps that a high-frequency carrier zero-sequence voltage is obtained by utilizing a balance resistance network, an error signal for observing a rotor position angle is constructed from the high-frequency carrier zero-sequence voltage, the observation of the rotor position angle is finally realized, and an extraction and processing algorithm of the error signal is simplified;
(2) 3-order harmonic plane injection amplitude pulse vibration high-frequency voltage is adopted, harmonic interference signals which are 20 times of that of fundamental wave signals appear in error signals, and due to the fact that the frequency of the interference signals is high, the interference signals are beneficial to rapid elimination of a subsequent PI regulator and an integrator;
(3)3, injecting high-frequency signals of amplitude pulse vibration into the harmonic plane, so that adverse effects on the plane torque of the fundamental wave are avoided, and stable operation of the motor is facilitated;
(4) by adopting a 3-order harmonic plane injection method, the rotor position angle error in the extracted error signal is 12 times and 18 times of the rotor position angle error in the fundamental plane injection, so that the gain of a rotor position angle observation channel is obviously improved, and the sensitivity of an observer is improved.
Drawings
Fig. 1 is a structural block diagram of a rotor position angle observer of the present invention.
FIG. 2 is a hardware configuration example of a driving system according to the present invention.
Fig. 3 is a connection manner of a balanced resistance network for zero sequence carrier voltage measurement.
FIG. 4 is a coordinate system definition.
FIG. 5 is a flow chart of a rotor position observation method according to the present invention.
Detailed Description
The technical scheme of the invention is specifically explained below with reference to the accompanying drawings.
The invention provides a five-phase permanent magnet synchronous motor rotor position angle observation method with simplified algorithm aiming at a five-phase permanent magnet synchronous motor driving system. Injecting a high-frequency voltage signal of amplitude pulse vibration by adopting a third harmonic plane; extracting high-frequency carrier zero-sequence voltage by using a balance resistance network central point and a motor winding central point which are connected in parallel to the end part of the 5-phase winding; and demodulating the zero sequence voltage of the high-frequency carrier by using a band-pass filter, a 3-time high-frequency sinusoidal signal in a proper form, a low-pass filter, a PI (proportional-integral) regulator and an integrator to finally obtain an observed value of the position angle of the rotor. The purpose has three aspects: firstly, by means of 3-order harmonic plane high-frequency signal injection, the gain of a rotor position angle observation channel is improved, and the pulsation harmonic component is higher; and secondly, an error signal for observing the rotor position angle is constructed by means of the high-frequency carrier zero-sequence voltage, so that the rotor position angle observation algorithm is simplified.
Calculating the voltage settings of alpha axis and beta axis of fundamental plane for controlling electromagnetic torque and magnetic field of motor according to vector control or direct torque control strategy
Figure BDA0002652909050000041
Calculating the given voltage of alpha axis and beta axis of 3-order harmonic plane for controlling 3-order harmonic of motor according to 3-order harmonic plane control strategy
Figure BDA0002652909050000042
Rotor position angle from observation
Figure BDA0002652909050000043
High frequency voltage frequency omegahAnd voltage peak value UmCalculating 5-phase high-frequency voltage setting
Figure BDA0002652909050000044
Using T5 matrix, the
Figure BDA0002652909050000045
Transforming to 3 harmonic plane to obtain alpha-axis and beta-axis components of high-frequency voltage injected by 3 harmonic plane
Figure BDA0002652909050000046
By means of an adder
Figure BDA0002652909050000047
And
Figure BDA0002652909050000048
correspondingly adding to obtain the alpha-axis and beta-axis components of the 3 rd harmonic plane voltage with high-frequency voltage
Figure BDA0002652909050000049
Giving the fundamental plane voltage
Figure BDA00026529090500000410
Figure BDA00026529090500000410
3 th harmonic plane voltage given
Figure BDA00026529090500000411
Sending the voltage to a 5-phase space voltage vector modulation or pulse width modulation module, and outputting a switching state signal S for driving A-E phase bridge arms of a 5-phase inverter bridgeA～SEThe high-frequency voltage injection of the motor with 3-time amplitude pulse oscillation is realized through a 5-phase inverter.
As shown in fig. 1, a balanced resistive network R1～R5Are respectively connected in parallel with the end parts of the 5-phase windings, and the common point of the two windings is R; the voltage between the R phase winding and the central point N of the 5-phase winding is high-frequency carrier zero-sequence voltage URN(ii) a Handle URNFeed center frequency of 3 omegahBand pass filter of (1), output U'RN(ii) a From rotor position observations
Figure BDA0002652909050000051
Frequency omega of high frequency signalhCalculating a unit amplitude sine signal
Figure BDA0002652909050000052
Is U'RN、
Figure BDA0002652909050000053
Is sent to a multiplier to obtain
Figure BDA0002652909050000054
Handle
Figure BDA0002652909050000055
Feed cut-off frequency of 0.6 omegahOf the low-pass filter, output
Figure BDA0002652909050000056
Handle
Figure BDA0002652909050000057
Sending to PI regulator, and outputting rotor rotation electrical angular velocity observed value
Figure BDA0002652909050000058
Handle
Figure BDA0002652909050000059
Feeding to an integrator, outputting rotor position angle observations
Figure BDA00026529090500000510
As shown in fig. 5, the invention provides a method for observing the rotor position angle of a 5-phase permanent magnet synchronous motor comprehensively from the perspective of simplifying an observation algorithm and enhancing observation sensitivity. Sequentially comprises the following steps:
(1) the method comprises the steps of injecting high-frequency voltage signals of amplitude pulse vibration by adopting a third harmonic plane, extracting zero-sequence voltage U by utilizing a balance resistance network central point and a motor winding central point which are connected in parallel to the end part of a 5-phase windingRNAnd fed to a central frequency of 3 omegahBand pass filter ofA wave filter for outputting a high-frequency carrier zero-sequence voltage U'RN；
(2) Is U'RNUnit amplitude sine signal
Figure BDA00026529090500000511
Is sent to a multiplier to obtain
Figure BDA00026529090500000512
(3) Handle
Figure BDA00026529090500000513
Feed cut-off frequency of 0.6 omegahOutput error signal
Figure BDA00026529090500000514
(4) Handle
Figure BDA00026529090500000515
Sending to PI regulator, and outputting rotor rotation electrical angular velocity observed value
Figure BDA00026529090500000516
Figure BDA00026529090500000517
Wherein k ispω、kiωRespectively are a proportional coefficient and an integral coefficient of a PI regulator in the rotor rotating electrical angular velocity observer.
(5) Handle
Figure BDA00026529090500000518
Feeding to an integrator, outputting rotor position angle observations
Figure BDA00026529090500000519
Figure BDA00026529090500000520
Wherein k isiθIs the integral coefficient of an integrator in the rotor position angle observer.
The specific steps of injecting the high-frequency voltage signal of the amplitude pulse vibration by adopting the third harmonic plane in the step (1) are as follows:
(1.1) calculating the voltage setting of alpha axis and beta axis of fundamental plane for controlling electromagnetic torque and magnetic field of motor according to vector control or direct torque control strategy
Figure BDA00026529090500000521
(1.2) calculating the given voltages of the alpha axis and the beta axis of the 3-order harmonic plane for controlling the 3-order harmonic of the motor according to the 3-order harmonic plane control strategy
Figure BDA00026529090500000522
(1.3) rotor position angle based on observation
Figure BDA0002652909050000061
High frequency voltage frequency omegahAnd voltage peak value UmCalculating 5-phase high-frequency voltage setting
Figure BDA0002652909050000062
Figure BDA0002652909050000063
Wherein the content of the first and second substances,
Figure BDA0002652909050000064
the angle between adjacent windings is electrical.
(1.4) Using T5 matrix, the
Figure BDA0002652909050000065
Transforming to 3 harmonic plane to obtain alpha-axis and beta-axis components of high-frequency voltage injected by 3 harmonic plane
Figure BDA0002652909050000066
Figure BDA0002652909050000067
Figure BDA0002652909050000068
Wherein the content of the first and second substances,
Figure BDA0002652909050000069
the given values of the alpha axis and beta axis components of the high-frequency voltage injected into the fundamental plane are both 0;
Figure BDA00026529090500000610
and the given value of the zero sequence voltage is given.
(1.5) implementation by means of an adder
Figure BDA00026529090500000611
And
Figure BDA00026529090500000612
correspondingly adding to obtain the alpha-axis and beta-axis components of the 3 rd harmonic plane voltage with high-frequency voltage
Figure BDA00026529090500000613
Figure BDA00026529090500000614
(1.6) giving the fundamental plane voltage
Figure BDA00026529090500000615
Figure BDA00026529090500000615
3 th harmonic plane voltage given
Figure BDA00026529090500000616
Feeding to 5-phase space voltage vector modulation or pulse width modulationA control module for outputting a switch state signal S for driving the A-phase to E-phase bridge arms of the 5-phase inverter bridgeA～SE(1.7) switch status signal SA～SEThe voltage of the direct current bus is UDCThe 5-phase inverter realizes the high-frequency voltage injection of the motor for 3 times of amplitude pulse vibration.
An example of a hardware configuration of a drive system embodying the present invention is shown in fig. 2. The method comprises the following steps: the system comprises a three-phase uncontrollable rectifying circuit, a large filtering capacitor, a five-phase inverter, a balanced resistance network, a direct current bus voltage detection circuit, a five-phase winding current detection circuit, a zero sequence voltage detection circuit, an isolation driving circuit, a five-phase permanent magnet synchronous motor, a DSP, a human-computer interaction interface and the like. The power tube in the inverter adopts IGBT or MOSFET. The balance resistor network is formed by connecting five resistors with the same resistance value in parallel at the end part of the motor respectively. The five-phase winding current detection circuit consists of a Hall current sensor and an operational amplification circuit, and an output signal is input into the DSP. The direct current bus voltage detection circuit and the zero sequence voltage detection circuit are composed of a Hall voltage sensor and an operational amplification circuit, and output signals are also input into the DSP. The DSP estimates the rotor position angle and outputs a control signal S of a switching tube according to the detected signal and the control algorithm of the inventionA～SEAnd then the power switch tube in the inverter is controlled to act through the isolation driving circuit so as to control the five-phase permanent magnet synchronous motor and inject the high-frequency voltage of the amplitude pulse vibration.
The basic principle is described as follows:
when the resistance and the back electromotive force of the motor winding are not counted, the phase voltage of the motor can be expressed as:
Figure BDA0002652909050000071
wherein isA，isB，isC，isD，isEIs the phase current; inductance matrix
Figure BDA0002652909050000072
The elements on the diagonal are self inductance of each phase of winding, and the elements on the off-diagonal are interphase mutual inductance.
The nth harmonic inductance matrix may be represented as:
Figure BDA0002652909050000073
wherein, theta0＝2θ，θ1＝2θ-αs，θ2＝2θ-2αs，θ3＝2θ-3αs，θ4＝2θ-4αs；L0nFor self-inductive DC component, L2nIs the amplitude of the self-induced AC component, M0nCommon coefficient of mutual inductance DC component, M2nIs the magnitude of the mutually induced ac component,
Figure BDA0002652909050000081
the angle between adjacent windings is the electrical angle, and θ is the rotor position angle.
The balanced resistor network connection is shown in fig. 3, from which the following voltage relationship can be obtained:
Figure BDA0002652909050000082
since the balanced resistor network is a symmetrical load, the voltage u is shown as being injectedAO～uEOIs five symmetrical voltages URO＝0。
Because the motor stator winding is star-connected, the current relationship is expressed as:
Figure BDA0002652909050000083
fig. 4 is a fundamental and 3 rd harmonic coordinate system definition for implementing electromechanical energy conversion. Alpha is alpha1β1、α3β3Respectively a fundamental wave static coordinate system and a 3 rd harmonic static coordinate system; d1q1、d3q3The rotor synchronous rotating coordinate systems are respectively a fundamental wave rotor synchronous rotating coordinate system and a 3-order harmonic rotor synchronous rotating coordinate system; A-E are the winding axes of each phase of the five-phase PMSM; thetar1、θr3Are respectively fundamental waveAnd the d-axis and the alpha-axis of the 3 th harmonic plane, and thetar3＝3θr1Let θ in the followingr1θ is the rotor position angle.
Rotor position angle from observation
Figure BDA0002652909050000084
High frequency voltage frequency omegahAnd voltage peak value UmCalculating 5-phase high-frequency voltage setting using equation 5
Figure BDA0002652909050000085
Figure BDA0002652909050000086
Converting the T5 matrix by equation 6 constant power
Figure BDA0002652909050000087
Transforming to 3 harmonic plane to obtain alpha-axis and beta-axis components of high-frequency voltage injected by 3 harmonic plane
Figure BDA0002652909050000088
Figure BDA0002652909050000089
Figure BDA0002652909050000091
Wherein the content of the first and second substances,
Figure BDA0002652909050000092
the given values of the alpha axis and beta axis components of the high-frequency voltage injected into the fundamental plane are both 0;
Figure BDA0002652909050000093
and the given value of the zero sequence voltage is given.
By means of an adder
Figure BDA0002652909050000094
And
Figure BDA0002652909050000095
correspondingly adding to obtain the alpha-axis and beta-axis components of the 3 rd harmonic plane voltage with high-frequency voltage
Figure BDA0002652909050000096
Figure BDA0002652909050000097
According to the formula 5, the high-frequency voltage of amplitude pulse vibration is injected only in the 3 rd harmonic plane, so that the inductance matrix only takes 3 rd harmonic components, and the inductance matrix can be obtained by using the formula 1, the formula 3 and the formula 5:
Figure BDA0002652909050000098
by simultaneous formula 4 and formula 9, the high-frequency voltage U 'of amplitude pulse vibration output between the center point R of the balance resistor network and the center point N of the 5-phase winding can be calculated'RNThe following were used:
Figure BDA0002652909050000099
wherein the content of the first and second substances,
Figure BDA00026529090500000910
Figure BDA00026529090500000911
Figure BDA00026529090500000912
V23＝2(L03-M03)(L23+4M23)
Figure BDA0002652909050000101
is U'RNUnit amplitude sine signal
Figure BDA0002652909050000102
Is sent to a multiplier to obtain
Figure BDA0002652909050000103
Figure BDA0002652909050000104
Wherein the content of the first and second substances,
Figure BDA0002652909050000105
Figure BDA0002652909050000106
handle
Figure BDA0002652909050000107
Feed cut-off frequency of 0.6 omegahOutput error signal
Figure BDA0002652909050000108
Figure BDA0002652909050000109
When rotor position angle observation error
Figure BDA00026529090500001010
When small, the error signal is approximately equal to:
Figure BDA00026529090500001011
the error signal comprises two parts:
(1)-(3Umk31+4.5Umk32) Δ θ: directly related to the rotor position angle observation error delta theta, if the rotor position observation is error-free, the part is equal to zero; this portion exists as long as there is an observation error. Therefore, the rotor position angle observation is realized by using the part;
(2)
Figure BDA00026529090500001012
is a 30-fold multiple of the fundamental frequency, and the observation effect of this part on the rotor position angle can be easily eliminated by using an integrator.
Handle
Figure BDA00026529090500001013
Sending to PI regulator, and outputting rotor rotation electrical angular velocity observed value
Figure BDA00026529090500001014
Figure BDA00026529090500001015
Wherein k ispω、kiωRespectively are a proportional coefficient and an integral coefficient of a PI regulator in the rotor rotating electrical angular velocity observer.
Handle
Figure BDA00026529090500001016
Feeding to an integrator, outputting rotor position angle observations
Figure BDA00026529090500001017
Figure BDA00026529090500001018
Wherein k isiθIs the integral coefficient of an integrator in the rotor position angle observer.
The above are preferred embodiments of the present invention, and all changes made according to the technical scheme of the present invention that produce functional effects do not exceed the scope of the technical scheme of the present invention belong to the protection scope of the present invention.

Claims (2)

1. A five-phase permanent magnet synchronous motor rotor position angle observation method with simplified algorithm is characterized in that a third harmonic plane is adopted to inject a high-frequency voltage signal with amplitude pulse vibration; extracting high-frequency carrier zero-sequence voltage by using a balance resistance network central point and a motor winding central point which are connected in parallel to the end part of the 5-phase winding; demodulating the zero-sequence voltage of the high-frequency carrier by using a band-pass filter, a 3-time high-frequency sinusoidal signal, a low-pass filter, a PI (proportional integral) regulator and an integrator to finally obtain an observed value of a rotor position angle; the method specifically comprises the following steps:
step S1, injecting high-frequency voltage signals of amplitude pulse vibration by adopting a third harmonic plane, and extracting high-frequency carrier zero-sequence voltage U by utilizing a balance resistance network center point and a motor winding center point which are connected in parallel with the end part of the 5-phase windingRN；
Step S2, carrying out zero sequence voltage U on the high-frequency carrier waveRNFeed center frequency of 3 omegahThe band-pass filter outputs a high-frequency carrier zero-sequence voltage U'RN；
Step S3, carrying out zero sequence voltage U 'on the high-frequency carrier wave'RNUnit amplitude sine signal
Figure FDA0003398689800000011
Is sent to a multiplier to obtain
Figure FDA0003398689800000012
Figure FDA0003398689800000013
Is the observed rotor position angle;
step S4, the
Figure FDA0003398689800000014
Feed cut-off frequency of 0.6 omegahOutput error signal
Figure FDA0003398689800000015
Step S5, the
Figure FDA0003398689800000016
Sending to PI regulator, and outputting rotor rotation electrical angular velocity observed value
Figure FDA0003398689800000017
Figure FDA0003398689800000018
Wherein k ispω、kiωProportional coefficients and integral coefficients of a PI regulator in the rotor rotating electrical angular velocity observer are respectively;
step S6, the
Figure FDA0003398689800000019
Feeding to an integrator, outputting rotor position angle observations
Figure FDA00033986898000000110
Figure FDA00033986898000000111
Wherein k isiθThe integral coefficient of an integrator in the rotor position angle observer;
the specific implementation steps of injecting the high-frequency voltage signal of the amplitude pulse vibration by using the third harmonic plane in the step S1 are as follows:
s11, calculating the voltage setting of alpha axis and beta axis of fundamental plane for controlling electromagnetic torque and magnetic field of motor according to vector control or direct torque control strategy
Figure FDA00033986898000000112
S12, calculating the voltage setting of the alpha axis and the beta axis of the 3-order harmonic plane for controlling the 3-order harmonic of the motor according to the 3-order harmonic plane control strategy
Figure FDA00033986898000000113
S13, rotor position angle based on observation
Figure FDA00033986898000000114
High frequency voltage frequency omegahAnd voltage peak value UmCalculating 5-phase high-frequency voltage setting
Figure FDA00033986898000000115
Figure FDA0003398689800000021
Wherein the content of the first and second substances,
Figure FDA0003398689800000022
the included angle electrical angle of adjacent windings;
s14, using T5 matrix, the method comprises
Figure FDA0003398689800000023
Transforming to 3 harmonic plane to obtain alpha-axis and beta-axis components of high-frequency voltage injected by 3 harmonic plane
Figure FDA0003398689800000024
Figure FDA0003398689800000025
Figure FDA0003398689800000026
Wherein the content of the first and second substances,
Figure FDA0003398689800000027
the given values of the alpha axis and beta axis components of the high-frequency voltage injected into the fundamental plane,
Figure FDA0003398689800000028
setting a zero sequence voltage value;
s15, using adder to realize
Figure FDA0003398689800000029
And
Figure FDA00033986898000000210
correspondingly adding to obtain the alpha-axis and beta-axis components of the 3 rd harmonic plane voltage with high-frequency voltage
Figure FDA00033986898000000211
Figure FDA00033986898000000212
S16, setting the fundamental plane voltage
Figure FDA00033986898000000213
3 th harmonic plane voltage given
Figure FDA00033986898000000214
To 5-phase space voltage vector modulation or pulse width modulation module for output drive of 5-phase inverter bridgeSwitching state signal S of A-phase to E-phase bridge armA～SE；
S17, switch state signal SA～SEThe voltage of the direct current bus is UDCThe 5-phase inverter realizes the high-frequency voltage signal injection of the motor with 3 times amplitude pulse oscillation.
2. The method for observing the rotor position angle of the five-phase permanent magnet synchronous motor with simplified algorithm according to claim 1, wherein the unit amplitude sinusoidal signal in the step S3
Figure FDA0003398689800000031
Is observed by rotor position
Figure FDA0003398689800000032
Frequency omega of high frequency signalhAnd (4) calculating.
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