CN112054734A - Low-speed non-speed sensor MTPA control method and system of permanent magnet synchronous motor - Google Patents
Low-speed non-speed sensor MTPA control method and system of permanent magnet synchronous motor 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
- H02P21/14—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
- 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
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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
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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
- H02P21/141—Flux estimation
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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
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
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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
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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
- 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 discloses a method and a system for controlling a low-speed non-speed sensor MTPA of a permanent magnet synchronous motor. The signal construction method provided by the invention is utilized to carry out construction processing on the high-frequency response current value, the position and speed of the motor rotor, the rotor flux linkage and the inductance parameter are identified through calculation, and the identification result is used for the control of the low-speed sensorless MTPA so as to ensure that the permanent magnet synchronous motor stably runs.
Description
Technical Field
The invention relates to the field of a permanent magnet synchronous motor speed sensorless, in particular to a method and a system for controlling a low-speed sensorless MTPA (maximum velocity Power Amplifier) of a permanent magnet synchronous motor, which are used for improving the efficiency of a built-in type permanent magnet synchronous motor low-speed sensorless control system.
Background
The built-In Permanent Magnet Synchronous Motor (IPMSM) has the remarkable advantages of small loss, high efficiency, large power density, small torque ripple and the like, and is widely applied. Meanwhile, the application of the speed sensorless control technology of the permanent magnet synchronous motor further simplifies the structure of a driving control system, improves the reliability of the system and further promotes the application range of the permanent magnet synchronous motor. Currently, various speed sensorless control methods have been proposed to improve reliability and reduce the cost of the permanent magnet synchronous motor speed control system. The injection method is widely applied to the low-speed section no-transmission control of the permanent magnet synchronous motor. However, the injection method increases the loss of the motor. And the adoption of maximum torque current ratio (MTPA) control can effectively improve the efficiency of the IPMSM sensorless control system based on the injection method.
MTPA methods are mainly divided into three categories: table lookup, signal injection, and formulation. The look-up table includes experimental methods and finite element analysis methods. The table lookup method is complicated and cannot accurately and dynamically track the MTPA points. The signal injection method comprises actual signal injection and virtual signal injection, and can reduce the dependence on motor parameters. Due to the use of the generation and low-pass filters, the convergence of the sine virtual signal injection method is slowed, and the convergence speed of the virtual square wave injection method can be increased. However, the injection method is susceptible to torque fluctuations, and it is difficult to avoid torque fluctuations in low-speed sensorless control employing the injection method. The formulation method requires accurate motor parameters. Due to the influence of magnetic saturation, cross coupling, temperature and other factors, it is difficult to accurately obtain motor parameters by using an off-line method. Currently, many online parameter identification methods have been proposed. Parameters are identified based on the least square method, but the robustness is poor, and the design difficulty of a signal processing system is large. The parameters are identified by using a model reference self-adaptive method, but the determination of the self-adaptive method is difficult; in addition, there are many intelligent algorithms proposed. However, the above intelligent algorithm still has many problems in engineering implementation, the calculation amount is large, the dependency on parameters is high, and the additional compensation algorithm makes the system become more complex. The invention processes the current sampling information by adopting a signal construction mode, has simple and flexible design and small calculated amount; the current is sampled four times in a high-frequency signal period, and a difference inductive current sine and cosine term and an average inductive current are constructed, so that the rotor position and the rotating speed of the motor and the flux linkage and inductive parameters of the motor are identified, and the low-speed sensor-free MTPA control of the synchronous motor is realized.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the invention is used for realizing the low-speed no-speed sensor MTPA control of the built-in permanent magnet synchronous motor, improving the efficiency of the low-speed no-speed sensor control system of the built-in permanent magnet synchronous motor, meeting the requirements of practical engineering on practicability, reliability and operability, simplifying the flow as much as possible and avoiding the introduction of new hardware equipment.
In order to solve the technical problems, the invention adopts the technical scheme that:
a low-speed no-speed sensor MTPA control method of a permanent magnet synchronous motor comprises the following steps:
1) injecting a high-frequency orthogonal voltage signal into an alpha-beta axis of the permanent magnet synchronous motor;
2) recording high-frequency response current of alpha-beta axis in a high-frequency signal period T, and acquiring a difference inductive current sine term I according to the high-frequency response currentsinDifferential value of the inductive current cosine term IcosAnd average inductor current IL；
3) By using the sine term I of the differential inductor currentsinDifferential value of the inductive current cosine term IcosThe estimated rotating speed omega is obtained through estimatione；
4) By using the obtained difference inductance current sine term IsinDifferential value of the inductive current cosine term IcosAnd average inductor current ILAnd calculating to obtain the direct-axis inductance L of the motordAnd quadrature axis inductance Lq(ii) a According to the direct axis inductance LdQuadrature axis inductor LqAnd estimating rotor position angle θgCalculating rotor flux linkage psif；
5) Using a direct axis inductor LdAnd quadrature axis inductance LqAnd rotor flux linkage psifCalculating to obtain d-axis current reference value I by adopting MTPA formula methoddMTPAAccording to d-axis reference current IdMTPAAnd estimating the rotational speed omegaeAnd realizing double closed-loop control.
Optionally, when the high-frequency orthogonal voltage signal is injected to the α - β axis of the permanent magnet synchronous motor in step 1), the high-frequency orthogonal voltage signal U injected to the α axisαhHigh frequency quadrature voltage signal U injected than beta axisβhLeading by ninety degrees.
Optionally, the amplitude U of the high-frequency quadrature voltage signal in step 1)hIs 0.2 times of rated voltage U of the motorN。
Optionally, in the step 2), when the high-frequency response current of the α - β axis is recorded in one high-frequency signal period T, the high-frequency response current of the α axis sampled at 1 st to 4 th sampling times in the high-frequency signal period T is recorded as iαh1,iαh2,iαh3,iαh4Recording the high-frequency response current of a beta axis sampled at 1 st to 4 th sampling moments in the period T of the high-frequency signal as iβh1,iβh2,iβh3,iβh4B, carrying out the following steps of; differential inductive current sine term I acquired by signal construction method according to high-frequency response currentsinThe formula of the calculation function is:
difference inductance current cosine term IcosThe formula of the calculation function is:
average inductor current ILThe formula of the calculation function is:
the high-frequency response current contains the alternating-axis inductance, the direct-axis inductance and the rotor position information of the motor, and the alternating-axis inductance, the direct-axis inductance and the rotor position information of the motor can be obtained through the signal construction formula. Under the condition of a given high-frequency orthogonal voltage signal, a difference inductive current sine term I is obtained through theoretical derivationsinDifferential value of the inductive current cosine term IcosAverage inductor current ILRespectively as follows:
optionally, the step of step 3) comprises:
3.1) sinusoidal term I of inductive current by differencesinDifferential value of the inductive current cosine term IcosAccording to thetae＝arctan(Isin/Icos) The actual rotor position angle theta is obtained through calculation of 2e；
3.2) actual rotor position Angle θeRotor position angle theta estimated from the previous cyclegDifference e betweenθObtaining an estimated rotation speed omega through a PI regulatoreWhere the rotor position angle θ estimated in the previous cyclegFor the estimated speed ω from the last cycleeAnd (4) obtaining the integral.
Optionally, the functional expression of the PI regulator in step 3.2) is:
in the above formula, ωeTo estimate the rotational speed, KpIs a proportionality coefficient, KiAs an integral coefficient, eθFor the actual rotor position angle thetaeRotor position angle theta estimated from the previous cyclegThe difference between them.
Optionally, the step of step 4) comprises:
4.1) sinusoidal using the obtained difference inductor currentItem IsinDifferential value of the inductive current cosine term IcosAnd average inductor current ILAnd (4) deriving the following formula to calculate and obtain the direct-axis inductance L of the motordAnd quadrature axis inductance Lq；
In the above formula, T is the period of the high frequency signal, UhFor the amplitude of the injected high-frequency voltage signal, IsinIs a difference inductor current sine term, IcosIs the cosine term of the difference inductor current, ILIs the average inductor current;
4.2) direct axis inductance LdQuadrature axis inductor LqAnd estimating the rotational speed omegaeSubstituting the following equation to obtain rotor flux linkage psif；
In the above formula, uq *For q-axis reference voltage, ud *Is a d-axis reference voltage, idIs the direct axis current of the motor, iqIs the quadrature axis current of the motor, LdIs a direct-axis inductor, LqIs a quadrature axis inductance, omegaeTo estimate the rotational speed.
Optionally, the d-axis current reference value I is calculated in step 5) by using an MTPA formula methoddMTPAThe functional expression of (a) is:
in the above formula, #fFor rotor flux linkage, LdIs a direct-axis inductor, LqIs a quadrature axis inductor, iqIs the quadrature axis current of the motor.
In addition, the invention also provides a low-speed no-speed-sensor MTPA control system of a permanent magnet synchronous motor, which comprises a computer device, wherein the computer device at least comprises a microprocessor and a memory, the microprocessor is programmed or configured to execute the steps of the low-speed no-speed-sensor MTPA control method of the permanent magnet synchronous motor, or the memory is stored with a computer program which is programmed or configured to execute the low-speed no-speed-sensor MTPA control method of the permanent magnet synchronous motor.
Furthermore, the present invention also provides a computer readable storage medium having stored therein a computer program programmed or configured to execute the method for controlling a low-speed sensorless MTPA of a permanent magnet synchronous motor.
Compared with the prior art, the parameter self-learning-based low-speed sensorless MTPA control method of the permanent magnet synchronous motor has the following advantages: according to the method, a high-frequency orthogonal square wave voltage signal is injected into an alpha-beta axis, a high-frequency response current value on the alpha-beta axis is extracted, the position and the angle of a rotor of the motor are obtained by utilizing a signal construction method according to the obtained high-frequency response current value, the inductance parameter and the rotor flux linkage of the motor are calculated in real time, the efficiency of an IPMSM low-speed non-speed sensor control system based on an injection method is effectively improved by adopting an MTPA control method, the obtained identification result is applied to the low-speed non-speed sensor MTPA control system, and therefore the control of the low-speed non-speed sensor MTPA of the permanent magnet synchronous motor is achieved, and the system has high robustness and anti-interference performance.
Drawings
FIG. 1 is a schematic diagram of a basic flow of a method according to an embodiment of the present invention.
Fig. 2 is a schematic control diagram of a method according to an embodiment of the present invention.
FIG. 3 is a schematic diagram of high-frequency voltage signal and current sampling points according to an embodiment of the present invention.
FIG. 4 is a timing diagram of current sampling and signal construction according to an embodiment of the present invention.
Detailed Description
As shown in fig. 1 and fig. 2, the method for controlling the MTPA of the permanent magnet synchronous motor without the speed sensor in the low speed of the embodiment includes:
1) injecting a high-frequency orthogonal voltage signal into an alpha-beta axis of the permanent magnet synchronous motor;
2) recording high-frequency response current of alpha-beta axis in a high-frequency signal period T, and acquiring a difference inductive current sine term I according to the high-frequency response currentsinDifferential value of the inductive current cosine term IcosAnd average inductor current IL；
3) By using the sine term I of the differential inductor currentsinDifferential value of the inductive current cosine term IcosThe estimated rotating speed omega is obtained through estimatione；
4) By using the obtained difference inductance current sine term IsinDifferential value of the inductive current cosine term IcosAnd average inductor current ILAnd calculating to obtain the direct-axis inductance L of the motordAnd quadrature axis inductance Lq(ii) a According to the direct axis inductance LdQuadrature axis inductor LqAnd estimating rotor position angle θgCalculating rotor flux linkage psif；
5) Using a direct axis inductor LdAnd quadrature axis inductance LqAnd rotor flux linkage psifCalculating to obtain d-axis current reference value I by adopting MTPA formula methoddMTPAAccording to d-axis reference current IdMTPAAnd estimating the rotational speed omegaeAnd realizing double closed-loop control.
In this embodiment, in order to simplify subsequent processes of extracting high-frequency signals and constructing signals in step 1), when injecting high-frequency orthogonal voltage signals into the α - β axis of the permanent magnet synchronous motor, the high-frequency voltage signal U injected into the α axisαhHigh frequency voltage signal U injected than beta axisβhLeading by ninety degrees.
As an optional implementation manner, step 1) in this embodiment, the amplitude of the high-frequency voltage signal injected in step 1) cannot be too large, otherwise, normal operation of the motor may be affected, and meanwhile, when the amplitude of the injected high-frequency voltage signal is small, difficulty may be brought to extraction of the high-frequency signal, so according to the operation condition of the actual motor, the amplitude U of the high-frequency orthogonal voltage signal injected in this embodiment example is equal to the amplitude U of the high-frequency orthogonal voltage signalhIs 0.2 times of rated voltage U of the motorN。
In the embodiment, when the high-frequency response current of the alpha-beta axis is recorded in one high-frequency signal period T in the step 2), the 1 st to 4 th in the high-frequency signal period T are respectively recordedThe high-frequency response current of the alpha axis sampled at each sampling moment is recorded as iαh1,iαh2,iαh3,iαh4Recording the high-frequency response current of a beta axis sampled at 1 st to 4 th sampling moments in the period T of the high-frequency signal as iβh1,iβh2,iβh3,iβh4B, carrying out the following steps of; differential inductive current sine term I acquired by signal construction method according to high-frequency response currentsinThe formula of the calculation function is:
difference inductance current cosine term IcosThe formula of the calculation function is:
average inductor current ILThe formula of the calculation function is:
the high-frequency response current contains the alternating-axis inductance, the direct-axis inductance and the rotor position information of the motor, and the alternating-axis inductance, the direct-axis inductance and the rotor position information of the motor can be obtained through the signal construction formula. Under the condition of a given high-frequency orthogonal voltage signal, a difference inductive current sine term I is obtained through theoretical derivationsinDifferential value of the inductive current cosine term IcosAverage inductor current ILRespectively as follows:
in this embodiment, the step 3) includes:
3.1) sinusoidal term I of inductive current by differencesinDifferential value of the inductive current cosine term IcosAccording to thetae＝arctan(Isin/Icos) The actual rotor position angle theta is obtained through calculation of 2e；
3.2) actual rotor position Angle θeRotor position angle theta estimated from the previous cyclegDifference e betweenθObtaining an estimated rotation speed omega through a PI regulatoreWhere the rotor position angle θ estimated in the previous cyclegFor the estimated speed ω from the last cycleeAnd (4) obtaining the integral.
As an alternative embodiment, the function expression of the PI regulator in step 3.2) is:
in the above formula, ωeTo estimate the rotational speed, KpIs a proportionality coefficient, KiAs an integral coefficient, eθFor the actual rotor position angle thetaeRotor position angle theta estimated from the previous cyclegThe difference between them.
In this embodiment, the step 4) includes:
4.1) utilizing the obtained difference inductive current sine term IsinDifferential value of the inductive current cosine term IcosAnd average inductor current ILAnd (4) deriving the following formula to calculate and obtain the direct-axis inductance L of the motordAnd quadrature axis inductance Lq；
In the above formula, T is the period of the high frequency signal, UhFor the amplitude of the injected high-frequency voltage signal, IsinIs a difference inductor current sine term, IcosIs the cosine term of the difference inductor current, ILIs the average inductor current;
4.2) direct axis inductance LdQuadrature axis inductor LqAnd estimating the rotational speed omegaeSubstituting the following equation to obtain rotor flux linkage psif；
In the above formula, uq *For q-axis reference voltage, ud *Is a d-axis reference voltage, idIs the direct axis current of the motor, iqIs the quadrature axis current of the motor, LdIs a direct-axis inductor, LqIs a quadrature axis inductance, omegaeTo estimate the rotational speed.
In the step 5) of this embodiment, a d-axis current reference value I is calculated by using an MTPA formula methoddMTPAThe functional expression of (a) is:
in the above formula, #fFor rotor flux linkage, LdIs a direct-axis inductor, LqIs a quadrature axis inductor, iqIs the quadrature axis current of the motor. Correcting d-axis current reference value I by estimating quadrature axis inductance, direct axis inductance and magnetic flux of motor in real timedMTPAThe disturbance resistance of the MTPA control system is improved, and the control precision can be improved.
Then, the reference current I can be obtained according to the d axisdMTPAAnd estimating the rotational speed omegaeAnd realizing double closed-loop control. It should be noted that the reference current I is based on the d-axisdMTPAAnd estimating the rotational speed omegaeThe implementation of the dual closed-loop control specifically refers to dual closed-loop control using a current loop and a speed loop, which are conventional control methods in the art, and therefore, detailed description thereof is omitted here.
In this embodiment, the direct axis inductor L is used in step 5)dAnd quadrature axis inductance LqAnd rotor flux linkage psifCalculating to obtain d-axis current reference value I by adopting MTPA formula methoddMTPA0 at the initial moment of system start-up, so that the reference current I according to the d-axis in step 5)dMTPAAnd estimating the rotational speed omegaeThe realization of the double closed-loop control is specifically that when the motor is initially electrified and operated, the motor is firstly electrified and operated becauseThe identification process of the quadrature-direct axis inductance and the flux linkage needs time, the parameter deviation directly identified during starting is large, and the parameter deviation is directly substituted into calculation or causes the deviation of the d-axis reference current to be overlarge, so that the control performance is deteriorated. The identification process of the quadrature-direct axis inductance and the flux linkage is ensured to be completely established, and the calculated d-axis reference current I is used after accurate identification parameters are obtaineddMTPAThe MTPA is accessed to realize the MTPA control, and the calculated d-axis reference current I is electrified for 0.5s on the system according to the testdMTPAThe access implementation of MTPA control enables good control performance.
FIG. 3 is a schematic diagram showing the sampling timing of the injected high-frequency voltage signal and the response current in this embodiment, where T issIs the inverter carrier signal period, T is the injected high frequency voltage signal period, UhIs the amplitude of the injected high frequency voltage signal. The ideal current sampling point is every time point, and every high-frequency signal period is sampled four times. Because the PWM generating module of the DSP has a carrier period TsDelay characteristic, experimental sampling point delaying T on the basis of ideal sampling pointsTime.
The high-frequency response current value of four times of sampling in one high-frequency signal period obtained in the method for controlling the low-speed non-speed sensor MTPA of the permanent magnet synchronous motor according to this embodiment is obtained by a signal construction method, as shown in fig. 4, a time sequence diagram of current sampling and signal construction according to this embodiment is shown, and each high-frequency period includes four times of sampling and four times of calculation construction. Firstly, calculate the sine term I of the difference inductive currentsinDifferential value of the inductive current cosine term IcosAnd average inductor current IL(ii) a Then, the sine term I of the difference inductive current is obtainedsinDifferential value of the inductive current cosine term IcosThe actual rotor position angle theta can be obtained by solving the inverse tangent of the ratioeAnd estimated permanent magnet synchronous motor rotor speed omegae. Secondly, the sine term I of the difference inductive current is utilizedsinDifferential value of the inductive current cosine term IcosAnd average inductor current ILAnd calculating to obtain the direct-axis inductance and quadrature-axis inductance of the motor. Then, the inductance parameter obtained by calculation is substituted into the stator voltage equation of the permanent magnet synchronous motor to be reversely solvedStator out resistance RsAnd rotor flux linkage psif. Finally, calculating to obtain a d-axis given reference current value I according to a maximum torque current ratio (MTPA) formula methoddMTPATherefore, the non-speed double closed-loop control of the permanent magnet synchronous motor is realized according to the obtained d-axis current reference value and the estimated rotating speed. Experiments prove that the control method of the low-speed non-speed sensor MTPA of the permanent magnet synchronous motor can realize the control of the low-speed non-speed sensor MTPA of the permanent magnet synchronous motor, and the system has strong robustness and anti-interference performance.
In addition, the present embodiment also provides a low-speed sensorless MTPA control system of a permanent magnet synchronous motor, which includes a computer device, where the computer device at least includes a microprocessor and a memory, where the microprocessor is programmed or configured to execute the steps of the aforementioned low-speed sensorless MTPA control method of the permanent magnet synchronous motor, or where the memory stores a computer program that is programmed or configured to execute the aforementioned low-speed sensorless MTPA control method of the permanent magnet synchronous motor. The computer equipment can be a PC, a server and an industrial control computer, and can also be embedded computing equipment realized on the basis of microprocessors such as a DSP, an FPGA, an ARM and the like.
Furthermore, the present embodiment also provides a computer-readable storage medium having stored therein a computer program programmed or configured to execute the aforementioned low-speed sensorless MTPA control method of a permanent magnet synchronous motor. The computer readable storage medium may be a storage device such as an optical disc, a floppy disc, a usb disk, a portable hard disk, a disk array, etc., and a network storage device (NAS) may also be considered as a specific implementation manner of the computer readable storage medium from the outside.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (10)
1. A method for controlling a low-speed non-speed sensor MTPA of a permanent magnet synchronous motor is characterized by comprising the following steps:
1) injecting a high-frequency orthogonal voltage signal into an alpha-beta axis of the permanent magnet synchronous motor;
2) recording high-frequency response current of alpha-beta axis in a high-frequency signal period T, and acquiring a difference inductive current sine term I according to the high-frequency response currentsinDifferential value of the inductive current cosine term IcosAnd average inductor current IL；
3) By using the sine term I of the differential inductor currentsinDifferential value of the inductive current cosine term IcosThe estimated rotating speed omega is obtained through estimatione；
4) By using the obtained difference inductance current sine term IsinDifferential value of the inductive current cosine term IcosAnd average inductor current ILAnd calculating to obtain the direct-axis inductance L of the motordAnd quadrature axis inductance Lq(ii) a According to the direct axis inductance LdQuadrature axis inductor LqAnd estimating rotor position angle θgCalculating rotor flux linkage psif；
5) Using a direct axis inductor LdAnd quadrature axis inductance LqAnd rotor flux linkage psifCalculating to obtain d-axis current reference value I by adopting MTPA formula methoddMTPAAccording to d-axis reference current IdMTPAAnd estimating the rotational speed omegaeAnd realizing double closed-loop control.
2. The MTPA control method for the PMSM without the speed sensor at low speed according to claim 1, wherein when injecting the high frequency orthogonal voltage signal into the alpha-beta axis of the PMSM in step 1), the high frequency orthogonal voltage signal U injected into the alpha axisαhHigh frequency quadrature voltage signal U injected than beta axisβhLeading by ninety degrees.
3. The MTPA control method for the PMSM (permanent magnet synchronous motor) without the speed sensor at low speed according to claim 2, wherein the amplitude U of the high-frequency quadrature voltage signal in the step 1)hIs 0.2 times rated voltage U of motorN。
4. The MTPA control method for the low-speed non-speed sensor of the permanent magnet synchronous motor according to claim 1, wherein in the step 2), when the high-frequency response current of the alpha-beta axis is recorded in one high-frequency signal period T, the high-frequency response current of the alpha axis sampled at the 1 st to 4 th sampling moments in the high-frequency signal period T is recorded as iαh1,iαh2,iαh3,iαh4Recording the high-frequency response current of a beta axis sampled at 1 st to 4 th sampling moments in the period T of the high-frequency signal as iβh1,iβh2,iβh3,iβh4B, carrying out the following steps of; differential inductive current sine term I acquired by signal construction method according to high-frequency response currentsinThe formula of the calculation function is:
difference inductance current cosine term IcosThe formula of the calculation function is:
average inductor current ILThe formula of the calculation function is:
the high-frequency response current contains the alternating-axis inductance, the direct-axis inductance and the rotor position information of the motor, and the alternating-axis inductance, the direct-axis inductance and the rotor position information of the motor can be obtained through the signal construction formula. Under the condition of a given high-frequency orthogonal voltage signal, a difference inductive current sine term I is obtained through theoretical derivationsinDifferential value of the inductive current cosine term IcosAverage inductor current ILRespectively as follows:
5. the method for controlling the MTPA of the PMSM with the low speed and no speed sensor according to claim 1, wherein the step of step 3) comprises the following steps:
3.1) sinusoidal term I of inductive current by differencesinDifferential value of the inductive current cosine term IcosAccording to thetae＝arctan(Isin/Icos) The actual rotor position angle theta is obtained through calculation of 2e；
3.2) actual rotor position Angle θeRotor position angle theta estimated from the previous cyclegDifference e betweenθObtaining an estimated rotation speed omega through a PI regulatoreWhere the rotor position angle θ estimated in the previous cyclegFor the estimated speed ω from the last cycleeAnd (4) obtaining the integral.
6. The MTPA control method for the permanent magnet synchronous motor without the speed sensor at low speed according to claim 5, wherein the functional expression of the PI regulator in the step 3.2) is as follows:
in the above formula, ωeTo estimate the rotational speed, KpIs a proportionality coefficient, KiAs an integral coefficient, eθFor the actual rotor position angle thetaeRotor position angle theta estimated from the previous cyclegThe difference between them.
7. The method for controlling the MTPA of the permanent magnet synchronous motor in the low speed and without the speed sensor according to claim 1, wherein the step 4) comprises the following steps:
4.1) utilizing the obtained difference inductive current sine term IsinDifferential value of the inductive current cosine term IcosAnd average inductor current ILAnd (4) deriving the following formula to calculate and obtain the direct-axis inductance L of the motordAnd quadrature axis inductance Lq；
In the above formula, T is the period of the high frequency signal, UhFor the amplitude of the injected high-frequency voltage signal, IsinIs a difference inductor current sine term, IcosIs the cosine term of the difference inductor current, ILIs the average inductor current;
4.2) direct axis inductance LdQuadrature axis inductor LqAnd estimating the rotational speed omegaeSubstituting the following equation to obtain rotor flux linkage psif；
In the above formula, uq *For q-axis reference voltage, ud *Is a d-axis reference voltage, idIs the direct axis current of the motor, iqIs the quadrature axis current of the motor, LdIs a direct-axis inductor, LqIs a quadrature axis inductance, omegaeTo estimate the rotational speed.
8. The MTPA control method for the PMSM (permanent magnet synchronous motor) without the speed sensor at low speed according to claim 1, wherein a d-axis current reference value I is calculated in step 5) by adopting an MTPA formula methoddMTPAThe functional expression of (a) is:
in the above formula, #fFor rotor flux linkage, LdIs a direct-axis inductor, LqIs a quadrature axis inductor, iqIs the quadrature axis current of the motor.
9. A low-speed sensorless MTPA control system of a permanent magnet synchronous motor, comprising a computer device including at least a microprocessor and a memory, characterized in that the microprocessor is programmed or configured to perform the steps of the low-speed sensorless MTPA control method of the permanent magnet synchronous motor according to any one of claims 1 to 8, or the memory has stored therein a computer program programmed or configured to perform the low-speed sensorless MTPA control method of the permanent magnet synchronous motor according to any one of claims 1 to 8.
10. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which is programmed or configured to execute a method of low-speed sensorless MTPA control of a permanent magnet synchronous machine according to any of claims 1-8.
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