CN112511060A - Hidden pole type permanent magnet brushless hub motor position estimation calibration method - Google Patents
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Abstract
The invention belongs to the technical field of motor control, and provides a position estimation calibration method of a non-salient pole type permanent magnet brushless hub motor, which comprises the following steps: collecting Hall position sensor signals of a non-salient pole type permanent magnet brushless hub motor and stator voltage and current under a two-phase static coordinate system, and setting a filtering rule to filter interference signals of the Hall position sensor; rotor position by mean velocity method
And average rotational speed
And extracting the observed position theta of the rotor by a counter electromotive force observere(ii) a According to rotor position
For rotor observation position thetaePerforming correction and calculating rotor position error
(ii) a Obtaining rotational speed error using a phase locked loop architecture
Error in rotational speed
Compensating to average speed
To obtain a calibrated rotation speed
And calculating the rotor position
. The invention solves the problems of inaccurate rotor position estimation and low precision caused by the discrete characteristic, electromagnetic interference and installation error of the Hall position sensor, and improves the control performance and reliability of the non-salient pole permanent magnet brushless hub motor vector control system.
Description
Technical Field
The invention belongs to the technical field of motor control, and particularly relates to a position estimation calibration method of a non-salient pole type permanent magnet brushless hub motor.
Background
The permanent magnet brushless hub motor has been widely used in the field of electric vehicles because of its advantages of high efficiency, easy control, low cost, space saving, etc. According to different motor manufacturing processes, the permanent magnet brushless hub motor is divided into a non-salient pole type and a salient pole type. In a vector control system of a permanent magnet brushless hub motor, the position of a rotor needs to be accurately positioned to realize high-performance control, and if the estimation error of the position of the rotor is too large, the operation pulsation of the motor is large, and even the motor cannot be started smoothly.
The switch type Hall position sensor has the advantages of low cost, small size and the like, and is widely applied to a hub motor control system. The switch type Hall position sensor can only provide six position information in one electric cycle, and the accurate positioning of the rotor position of the sine wave permanent magnet brushless hub motor cannot be realized. Meanwhile, the resolution is not the ideal 60 ° electrical angle due to the limitations of the switching type hall position mounting process. In particular, a hub motor usually has a large number of pole pairs, and a mechanical error of 1 ° in a hall position sensor for a permanent magnet motor having several tens of pole pairs means an electrical angle error of several tens of degrees. Furthermore, in order to realize a more compact structure of the permanent magnet brushless hub motor, sometimes the hall position sensor is directly placed in a main magnetic circuit of the motor, and a magnetic field generated by the armature winding also interferes with a magnetic field generated by the permanent magnet, so that a hall signal output error is caused. These erroneous position signals are fed back to the control system, which may cause position estimation errors, affect the control performance, and even cause the motor to lose step. There is therefore a need to improve the resolution and accuracy of position estimation from discrete rotor position information through some signal processing or error calibration technique.
At present, methods for reducing quantization errors of hall discrete signals mainly include an interpolation method, a synchronous coordinate system filter method and an observer method. The interpolation method and the filter method have the advantages of simple algorithm and easy realization as non-model methods, but the noise content of the estimation result is higher and the lag is obvious. The observer method is generally based on the system parameters of the motor, and the result is easily affected by the system inertia and the load change, so that the robustness is poor.
Disclosure of Invention
In view of this, the embodiment of the present invention provides a method for estimating and calibrating a position of a non-salient pole type permanent magnet brushless hub motor, which aims to solve the problems of inaccurate rotor position estimation and low precision caused by the discrete characteristics, installation errors and electromagnetic interference of hall position sensors, and improve the control performance and reliability of a vector control system of the non-salient pole type permanent magnet brushless hub motor.
A method for estimating and calibrating the position of a non-salient pole permanent magnet brushless hub motor, the method comprising the following steps:
(1) signal acquisition: installing three switch type Hall position sensors around a motor rotor, equally dividing the rotor into six Hall sectors in a circle, wherein each Hall sector is pi/3, acquiring three Hall position sensor signals, and collecting three-phase current and voltage of motor operation;
(2) interference filtering: setting a filtering rule to filter electromagnetic interference signals in Hall position sensor signals;
(3) estimating the rotor position: estimating the rotor position theta by adopting an average speed method according to the Hall position sensor signal after the interference is filteredhAnd average rotational speed ωh；
(4) Calculating the observed position of the rotor: establishing a non-salient pole type permanent magnet brushless hub motor mathematical model under a static two-phase coordinate system, establishing a counter electromotive force observer according to the motor mathematical model, and extracting a rotor observation position thetae；
(5) And correcting the observed position of the rotor: according to rotor position thetahAnd the observed position theta of the rotor in the current sector of the rotoreCorrecting;
(6) and (3) calculating rotor rotation speed compensation: calculating corrected rotor observation position thetaeThe rotor position error delta theta with the rotor position theta is calculated by adopting a phase-locked loop structure to obtain a motor rotating speed compensation value delta omega, the method for obtaining the rotating speed compensation value by the phase-locked loop structure comprises the following steps,
wherein k isp，kiRespectively a scale factor and an integral factor, kp＞0，ki＞0；ΔTsFor the sampling period, sgn (ω)h) The rotor direction is determined for the sign function, specifically,
(7) calculating the calibrated rotor speed and position: compensating the rotational speed error delta omega to the average rotational speed omegahAnd calculating the calibrated rotor position theta by using the calibrated rotating speed omega, wherein the calculating method comprises the following steps:
further, the filtering rule set in step 2 is: judging the state (0 or 7) of the wrong Hall position sensor, giving an alarm when the state continuously appears, and neglecting when the state does not continuously appear; judging the time interval of two adjacent Hall position sensor pulses in the Hall position sensor capturing interruption, and ignoring the capturing information if the time interval is smaller than a set threshold value; if the inverted signal appears above the set speed threshold, directly neglecting, and considering that the inversion is impossible at the moment; the status of the hall position sensor pins is polled in a control interrupt and the correct information is updated as soon as a difference from the capture is found.
Further, in step 4, the method for establishing the mathematical model of the non-salient pole type permanent magnet brushless hub motor in the static two-phase coordinate system comprises the following steps: clark conversion is carried out according to the collected three-phase current of the motor to obtain the current under a two-phase static coordinate system, a mathematical model of the non-salient pole type permanent magnet brushless hub motor under the two-phase static coordinate system is obtained according to the current, line resistance and inductance under the two-phase static coordinate system of the motor,
wherein u isα、uβRespectively, the stator voltage component, R, of the motor in a two-phase stationary framesIs the motor line resistance, LsIs inductance, p is differential operator, iα、iβRespectively the motor stator current components under the two-phase static coordinate system,
respectively, the back electromotive force components of the motor under the two-phase static coordinate system.
Further, the back electromotive force observer in step 4 is derived from a mathematical model, and the back electromotive force observer in the coordinate system has the equation,
wherein
Respectively is the back electromotive force component i of the motor under the two-phase static coordinate system during the calculationα(k)、iβ(k) Respectively the current components i of the motor stator under the two-phase static coordinate system during the calculationα(k-1)、iβAnd (k-1) respectively representing the motor stator current components in the two-phase static coordinate system at the last calculation.
Furthermore, in step 4, the method for calculating the rotor position by the back emf observer is,
wherein
The filtered back electromotive force under the two-phase static coordinate system at this time is calculated by the following method,
where mu is the filter coefficient, where,
the last estimated back emf in the two-phase stationary frame.
Further, in step 5, the position θ is observed for the rotoreThe correction method is that the rotor observation position thetaeThe method for estimating the rotor position theta by the average speed method is satisfiedhLocated in the same Hall position sensor sector, the judgment formula is as follows,
wherein theta issIs the initial angle of the current hall position sensor sector.
Compared with the prior art, the method can solve the problems of inaccurate rotor position estimation and low precision caused by the discrete characteristic, the installation error and the electromagnetic interference of the Hall position sensor, and improve the control performance and the reliability of the non-salient pole type permanent magnet brushless hub motor vector control system.
Drawings
FIG. 1 is a flow chart of a method for calibrating position estimation of a non-salient pole permanent magnet brushless hub motor according to the present invention;
FIG. 2 is a schematic view of a Hall position sensor installation of the present invention;
FIG. 3 is a schematic diagram of the output waveform of a Hall position sensor when subject to interference according to the present invention;
FIG. 4 is a schematic illustration of the Hall position sensor sectorization with installation offset of the present invention;
FIG. 5 is a frame diagram of a position estimation calibration observer of a non-salient pole permanent magnet brushless in-wheel motor according to the present invention;
FIG. 6 is a diagram of a Hall position sensor based vector control framework of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details.
In order to illustrate the technical solution of the present invention, the present invention is further described below with reference to the accompanying drawings.
Example 1
Fig. 1 shows a method for calibrating position estimation of a non-salient pole permanent magnet brushless hub motor, comprising the following steps,
(1) signal acquisition: installing three switch type Hall position sensors around a motor rotor, equally dividing the rotor into six Hall sectors in a circle, wherein each Hall sector is pi/3, acquiring three Hall position sensor signals, and collecting three-phase current and voltage of motor operation;
(2) interference filtering: setting a filtering rule to filter electromagnetic interference signals in Hall position sensor signals;
(3) estimating the rotor position: according to the Hall position sensor signal after interference filtering, average speed is adoptedMethod for estimating rotor position thetahAnd average rotational speed ωh；
(4) Calculating the observed position of the rotor: establishing a non-salient pole type permanent magnet brushless hub motor mathematical model under a static two-phase coordinate system, establishing a counter electromotive force observer according to the motor mathematical model, and extracting a rotor observation position thetae；
(5) And correcting the observed position of the rotor: according to rotor position thetahAnd the observed position theta of the rotor in the current sector of the rotoreCorrecting;
(6) and (3) calculating rotor rotation speed compensation: calculating corrected rotor observation position thetaeThe rotor position error delta theta with the rotor position theta is calculated by adopting a phase-locked loop structure to obtain a motor rotating speed compensation value delta omega, the method for obtaining the rotating speed compensation value by the phase-locked loop structure comprises the following steps,
wherein k isp，kiRespectively a scale factor and an integral factor, kp＞0，ki＞0；ΔTsFor the sampling period, sgn (ω)h) The rotor direction is determined for the sign function, specifically,
(7) calculating the calibrated rotor speed and position: compensating the rotational speed error delta omega to the average rotational speed omegahAnd calculating the calibrated rotor position theta by using the calibrated rotating speed omega, wherein the calculating method comprises the following steps:
further, the filtering rule set in step 2 is: judging the state (0 or 7) of the wrong Hall position sensor, giving an alarm when the state continuously appears, and neglecting when the state does not continuously appear; judging the time interval of two adjacent Hall position sensor pulses in the Hall position sensor capturing interruption, and ignoring the capturing information if the time interval is smaller than a set threshold value; if the inverted signal appears above the set speed threshold, directly neglecting, and considering that the inversion is impossible at the moment; the status of the hall position sensor pins is polled in a control interrupt and the correct information is updated as soon as a difference from the capture is found.
Further, in step 4, the method for establishing the mathematical model of the non-salient pole type permanent magnet brushless hub motor in the static two-phase coordinate system comprises the following steps: clark conversion is carried out according to the collected three-phase current of the motor to obtain the current under a two-phase static coordinate system, a mathematical model of the non-salient pole type permanent magnet brushless hub motor under the two-phase static coordinate system is obtained according to the current, line resistance and inductance under the two-phase static coordinate system of the motor,
wherein u isα、uβRespectively, the stator voltage component, R, of the motor in a two-phase stationary framesIs the motor line resistance, LsIs inductance, p is differential operator, iα、iβRespectively the motor stator current components under the two-phase static coordinate system,
respectively, the back electromotive force components of the motor under the two-phase static coordinate system.
Further, in step 4, the back electromotive force observer is derived from the mathematical model, and the back electromotive force observer in the coordinate system has the equation,
wherein
Respectively at the time of this calculationCounter electromotive force component of motor under phase stationary coordinate system, iα(k)、iβ(k) Respectively the current components i of the motor stator under the two-phase static coordinate system during the calculationα(k-1)、iβAnd (k-1) respectively representing the motor stator current components in the two-phase static coordinate system at the last calculation.
Furthermore, in step 4, the method for calculating the rotor position by the back emf observer is,
wherein
The filtered back electromotive force under the current two-phase static coordinate system is calculated by the following steps,
where mu is the filter coefficient, where,
the last estimated back emf in the two-phase stationary frame.
Further, in step 5, the position θ is observed for the rotoreThe correction method is that the rotor observation position thetaeThe method for estimating the rotor position theta by the average speed method is satisfiedhLocated in the same Hall position sensor sector, the judgment formula is as follows,
wherein theta issIs the initial angle of the current hall position sensor sector.
The estimated rotation speed ω and the position θ are brought into the vector control calculation of the motor, and the vector control framework is shown in fig. 6, so that the high-performance control of the permanent magnet brushless hub motor is realized.
Compared with the prior art, the method can solve the problems of inaccurate rotor position estimation and low precision caused by the discrete characteristic, the installation error and the electromagnetic interference of the Hall position sensor, and improve the control performance and the reliability of the non-salient pole type permanent magnet brushless hub motor vector control system.
Claims (6)
1. A method for estimating and calibrating the position of a non-salient pole permanent magnet brushless hub motor is characterized by comprising the following steps:
(1) signal acquisition: installing three switch type Hall position sensors around a motor rotor, equally dividing the rotor into six Hall sectors in a circle, wherein each Hall sector is pi/3, acquiring three Hall position sensor signals, and collecting three-phase current and voltage of motor operation;
(2) interference filtering: setting a filtering rule to filter electromagnetic interference signals in Hall position sensor signals;
(3) estimating the rotor position: estimating the rotor position theta by adopting an average speed method according to the Hall position sensor signal after the interference is filteredhAnd average rotational speed ωh；
(4) Calculating the observed position of the rotor: establishing a non-salient pole type permanent magnet brushless hub motor mathematical model under a static two-phase coordinate system, establishing a counter electromotive force observer according to the motor mathematical model, and extracting a rotor observation position thetae；
(5) And correcting the observed position of the rotor: according to rotor position thetahAnd the observed position theta of the rotor in the current sector of the rotoreCorrecting;
(6) and (3) calculating rotor rotation speed compensation: calculating corrected rotor observation position thetaeThe rotor position error delta theta with the rotor position theta is calculated by adopting a phase-locked loop structure to obtain a motor rotating speed compensation value delta omega, the method for obtaining the rotating speed compensation value by the phase-locked loop structure comprises the following steps,
wherein k isp，kiRespectively a scale factor and an integral factor, kp＞0，ki＞0；ΔTsFor the sampling period, sgn (ω)h) The rotor direction is determined for the sign function, specifically,
(7) calculating the calibrated rotor speed and position: compensating the rotational speed error delta omega to the average rotational speed omegahAnd calculating the calibrated rotor position theta by using the calibrated rotating speed omega, wherein the calculating method comprises the following steps:
2. the method of claim 1, wherein the filtering rule set in step (2) is,
(21) judging the state of the wrong Hall position sensor, giving an alarm when the state continuously appears, and neglecting when the state does not continuously appear;
(22) judging the time interval of two adjacent Hall position sensor pulses in the Hall position sensor capturing interruption, and ignoring the capturing information if the time interval is smaller than a set threshold;
(23) if the inverted signal appears above the set speed threshold, directly neglecting, and considering that the inversion is impossible at the moment;
(24) the status of the hall position sensor pins is polled in a control interrupt and the correct information is updated as soon as a difference from the capture is found.
3. The method for calibrating position estimation of a salient pole permanent magnet brushless hub motor according to claim 1, wherein the step (4) of establishing the mathematical model of the salient pole permanent magnet brushless hub motor comprises the following steps: clark conversion is carried out according to the collected three-phase current of the motor to obtain the current under a two-phase static coordinate system, a mathematical model of the non-salient pole type permanent magnet brushless hub motor under the two-phase static coordinate system is obtained according to the current, line resistance and inductance under the two-phase static coordinate system of the motor,
wherein u isα、uβRespectively, the stator voltage component, R, of the motor in a two-phase stationary framesIs the motor line resistance, LsIs inductance, p is differential operator, iα、iβRespectively the motor stator current components under the two-phase static coordinate system,
respectively, the back electromotive force components of the motor under the two-phase static coordinate system.
4. The method of claim 3, wherein the back EMF observer in step (4) is derived from a mathematical model, and the back EMF observer equation in the coordinate system is,
wherein
Respectively is the back electromotive force component i of the motor under the two-phase static coordinate system during the calculationα(k)、iβ(k) Respectively the current components i of the motor stator under the two-phase static coordinate system during the calculationα(k-1)、iβAnd (k-1) respectively representing the motor stator current components in the two-phase static coordinate system at the last calculation.
5. The method for calibrating position estimation of a non-salient pole permanent magnet brushless in-wheel motor according to claim 4, wherein the formula for calculating the rotor position by the back-emf observer in step (4) is as follows,
wherein
The calculation method of the filtered back electromotive force under the current two-phase static coordinate system adopts first-order low-pass filtering, and the formula is as follows,
where mu is the filter coefficient, where,
the last estimated back emf in the two-phase stationary frame.
6. The method of claim 5, wherein the step (5) is performed on the observed rotor position θeThe correction method is that the rotor observation position thetaeThe method for estimating the rotor position theta by the average speed method is satisfiedhLocated in the same Hall position sensor sector, the judgment formula is as follows,
wherein theta issIs the starting angle of the current hall position sensor sector.
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