CN112737440A - Motor rotor position information acquisition method and system - Google Patents

Motor rotor position information acquisition method and system Download PDF

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Publication number
CN112737440A
CN112737440A CN202011546594.8A CN202011546594A CN112737440A CN 112737440 A CN112737440 A CN 112737440A CN 202011546594 A CN202011546594 A CN 202011546594A CN 112737440 A CN112737440 A CN 112737440A
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phase
frequency
rotor
pass filter
position information
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CN112737440B (en
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王爽
朱盘龙
赵剑飞
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Shangda Electric Technology Jiaxing Co Ltd
University of Shanghai for Science and Technology
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Shangda Electric Technology Jiaxing Co Ltd
University of Shanghai for Science and Technology
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/022—Synchronous motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H02P27/12—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention discloses a method and a system for acquiring position information of a motor rotor, wherein a high-frequency pulse vibration voltage injection method is used for injecting a high-frequency signal into a permanent magnet synchronous motor; and filtering by a band-pass filter under the two-phase static coordinate system to obtain the high-frequency current of a specific frequency band containing the rotor position information. The high-frequency response current is demodulated, and a low-pass filter is used to obtain a current containing only rotor position information. And constructing an all-pass filter, and compensating the phase offset caused by filtering of the band-pass filter and the low-pass filter to obtain a compensated current. And obtaining the position and the rotating speed of the rotor by normalizing the compensated current through a phase-locked loop. The method provided by the invention tracks the position of the motor rotor in real time, provides accurate position information for motor driving, and improves decoding precision and decoding speed; meanwhile, the phase compensation is carried out on the signals, the condition that the method is invalid due to phase lag is avoided, and the reliability of the obtained rotor position and the system robustness are improved.

Description

Motor rotor position information acquisition method and system
Technical Field
The invention relates to the technical field of motor control, in particular to an acquisition method for compensating phase offset brought by a filter when motor rotor position information is acquired.
Background
A Permanent Magnet Synchronous Motor (PMSM) has the characteristics of small volume, high power density, high working efficiency and the like, and is widely applied to various fields. Achieving high performance control of permanent magnet synchronous motors requires very accurate rotor position information. Conventional control methods typically use position sensors. Nowadays, cost reduction, fault-tolerant design concept and special working condition requirements enable a stable, accurate and efficient position-free sensor control algorithm to gradually become a hot spot in the field of motor control.
At present, scholars at home and abroad propose various control algorithms without position sensors. If the rotor position estimation method based on the high-frequency pulse vibration voltage injection method is adopted in the zero low-speed domain, and the rotor position estimation method based on the sliding mode observer is adopted in the medium-high speed domain. The high-frequency pulse vibration voltage injection method used in the invention is to inject high-frequency pulse vibration voltage signals into the d axis of the synchronous rotating coordinate system, and extract position information from high-frequency current signals responded by the two-phase static coordinate system, thereby realizing the observation of the rotor position.
When the rotor position information is extracted from the high-frequency current signal, a band-pass filter is needed to extract the high-frequency signal, and a low-pass filter is needed to filter high-frequency noise waves to obtain a more accurate rotor position signal, but the problem of phase offset is caused by the band-pass filter and the low-pass filter, the estimation accuracy of the rotor position is influenced, and the rotor position needs to be compensated.
Disclosure of Invention
This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and the title of the invention of this application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.
The present invention has been made in view of the above-mentioned conventional problems.
Therefore, the invention provides a method and a system for acquiring the position information of the motor rotor, which can solve the problem of phase offset caused by a band-pass filter and a low-pass filter when the position information of the rotor is extracted.
In order to solve the technical problems, the invention provides the following technical scheme:
a motor rotor position information acquisition method comprises the following steps:
the method comprises the following steps: injecting a high-frequency signal into the estimated d-axis by using a high-frequency pulse vibration voltage injection normal; filtering the alpha and beta two-phase static coordinate system through a band-pass filter to obtain a high-frequency current i of a specific frequency band containing rotor informationαh、iβh。
Step two: this current is then multiplied by the demodulated signal 2sin (ω)ht), through a low-pass filter, a current i containing only rotor position information can be obtainedαl、iβl。
Step three: compensating the phase shift caused by filtering of the filter, constructing an all-pass filter, and obtaining a compensated current iαl’、iβl’。
Step four: the compensated current passes through the normalized phase-locked loop to obtain the compensated rotor position theta and the rotation speed omegar。
Further, the step one specifically includes:
injecting a high frequency signal into the estimated d-axis:
Figure BDA0002856503630000021
wherein the content of the first and second substances,
Figure BDA0002856503630000022
for high frequency signals injected into the estimated dq axis, UhIs the amplitude, omega, of the high-frequency signalhIs the angular frequency of the high frequency signal; obtaining a responsive high-frequency current i in an alpha beta two-phase static coordinate systemαh、iβh：
Figure BDA0002856503630000023
Wherein L isdhAnd theta is the high-frequency inductance of the d axis under the synchronous rotating coordinate system, and theta is the actual position of the rotor.
Further, the second step specifically includes:
Figure BDA0002856503630000024
wherein, LPF represents a low pass filter,
Figure BDA0002856503630000025
the total phase shift angle caused by the band pass filter and the low pass filter.
Further, the third step specifically includes:
selecting a Butterworth band-pass filter and a low-pass filter, wherein the amplitude-frequency response of the low-pass filter needs to satisfy the following relation:
Figure BDA0002856503630000026
wherein, omega and omegacAnd N respectively represents frequency, turning frequency and system order. Butterworth low-pass filter at frequency omegacThe gain is-3 dB, and as can be seen from the phase-frequency characteristic curve, the low-pass filter will bring about a phase shift when extracting the signal, and the phase shift will increase with the increase of the signal frequency, and the band-pass filter will also bring about a phase shift.
A fourth order all-pass filter is constructed to compensate for the phase offset produced by the band-pass and low-pass filters:
Figure BDA0002856503630000027
wherein a is1、a2、a3、a4Parameters of the all-pass filter are obtained through iteration of a genetic algorithm according to the parameters of the band-pass filter and the low-pass filter, and the all-pass filter is cascaded to realize phase balance:
Figure BDA0002856503630000028
wherein, APF represents an all-pass filter,
Figure BDA0002856503630000031
for the total phase shift after cascading the all-pass filters, if the all-pass filter design is ideal enough, it can be approximated
Figure BDA0002856503630000032
Further, the fourth step specifically includes:
the input error epsilon expression of the phase-locked loop before normalization is as follows:
Figure BDA0002856503630000033
wherein the content of the first and second substances,
Figure BDA0002856503630000034
the observed position of the rotor for the output of the phase locked loop,
Figure BDA0002856503630000035
normalized input error enComprises the following steps:
Figure BDA0002856503630000036
the transfer function of the normalized phase-locked loop is:
Figure BDA0002856503630000037
wherein k isp、kiThe proportional term and the integral term of the phase-locked loop PI regulator are provided. The PI regulator is reasonably designed, so that the normalized phase-locked loop can accurately estimate the position and speed information of the rotor.
In order to solve the technical problems, the invention also provides the following technical scheme:
the invention discloses a motor rotor position acquisition system, which implements the motor rotor position information acquisition method of the invention and comprises the following steps:
and the signal acquisition module is used for acquiring a high-frequency current signal of the permanent magnet synchronous motor in a two-phase static coordinate system.
And the demodulation signal generation module is used for generating a demodulation signal according to the input high-frequency signal and demodulating the extracted high-frequency current signal.
And the filtering module is used for filtering the high-frequency signals and acquiring sine and cosine signals only containing the rotor position information.
And the phase compensation module is used for compensating the phase offset generated by the filter in the signal demodulation process.
And the rotor angle generating module is used for decoding the sine and cosine signals by using a phase-locked loop to generate the rotor angle of the motor.
Compared with the prior art, the invention has the following substantive characteristics and obvious advantages:
1. the invention provides a method and a system for acquiring the position of a motor rotor, which are used for acquiring the rotor angle in a high-frequency injection mode, tracking the position of the motor rotor in real time and providing accurate position information for motor driving;
2. the invention simultaneously compensates the phase deviation generated in the acquisition process, improves the accuracy and the reliability of the acquired rotor position and optimizes the performance of a control system.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise. Wherein:
fig. 1 is a flowchart of a motor rotor position acquisition method of the present invention.
Fig. 2 is a structural block diagram of the high-frequency pulsating voltage injection method of the permanent magnet synchronous motor of the invention.
Fig. 3 is a schematic structural diagram of the normalized phase-locked loop according to the present invention.
Fig. 4 is a schematic diagram of the amplitude-frequency characteristic and the phase-frequency characteristic of the low-pass filter of the present invention.
Fig. 5 is a schematic diagram showing the amplitude-frequency characteristic and the phase-frequency characteristic of the bandpass filter of the present invention.
FIG. 6 is a schematic diagram of the angular relationship between the actual coordinate system and the estimated coordinate system according to the present invention.
Fig. 7 is an equivalent structure diagram of the normalized pll of the present invention.
FIG. 8 is a diagram of rotor position and rotor error waveforms obtained from simulation of a conventional high frequency pulse-vibration injection method.
FIG. 9 is a graph of rotor position and rotor error waveforms simulated using the method of the present invention.
Fig. 10 is a schematic view of a specific example of a motor rotor position system according to embodiment 4 of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, specific embodiments accompanied with figures are described in detail below, and it is apparent that the described embodiments are a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making creative efforts based on the embodiments of the present invention, shall fall within the protection scope of the present invention.
Example 1
A motor rotor position information acquisition method comprises the following steps:
the method comprises the following steps: injecting a high-frequency signal into the estimated d-axis by using a high-frequency pulse vibration voltage injection normal; filtering the alpha and beta two-phase static coordinate system through a band-pass filter to obtain a high-frequency current i of a specific frequency band containing rotor informationαh、iβh。
Step two: this current is then multiplied by the demodulated signal 2sin (ω)ht), through a low-pass filter, a current i containing only rotor position information can be obtainedαl、iβl。
Step three: compensating the phase shift caused by filtering of the filter, constructing an all-pass filter, and obtaining a compensated current iαl’、iβl’。
Step four: the compensated current passes through the normalized phase-locked loop to obtain the compensated rotor position theta and the rotation speed omegar。
The method and the system for acquiring the position information of the motor rotor can solve the problem of phase offset caused by a band-pass filter and a low-pass filter when the position information of the rotor is extracted.
Example 2
This embodiment is substantially the same as embodiment 1, and is characterized in that:
in this embodiment, in the step one, the injecting a high-frequency signal into the estimated d-axis specifically includes:
injecting a high frequency signal into the estimated d-axis:
Figure BDA0002856503630000051
wherein the content of the first and second substances,
Figure BDA0002856503630000052
for high frequency signals injected into the estimated dq axis, UhIs the amplitude, omega, of the high-frequency signalhIs the angular frequency of the high frequency signal.
In this embodiment, in the step one, the high-frequency current response of the permanent magnet synchronous motor in the two-phase stationary coordinate system specifically includes:
the voltage equation of the permanent magnet synchronous motor under fundamental excitation on a dq two-phase rotating coordinate system can be expressed as follows:
Figure BDA0002856503630000053
in the formula ud、uqIs the voltage, i, on a dq two-phase rotating coordinate systemd、iqIs the current in dq two-phase rotating coordinate system, Ld、LqIs the inductance of dq two-phase rotating coordinate system, R is the stator resistance, omegaeFor the electrical angular velocity of the rotor, p is a differential operator,. phifA permanent magnet flux linkage;
obtaining the high-frequency current response i of the permanent magnet synchronous motor under a two-phase static coordinate system through transformationαh、iβhCan be expressed as:
Figure BDA0002856503630000054
in the formula (I), the compound is shown in the specification,
Figure BDA0002856503630000055
for the estimated voltage in the dq two-phase rotation coordinate system, Ldh、LqhIs the high-frequency inductance of the dq two-phase rotating coordinate system, theta is the actual rotor electrical angle,
Figure BDA0002856503630000056
for the estimated rotor electrical angle, Δ θ is the difference between the actual rotor electrical angle and the estimated rotor electrical angle.
In this embodiment, in the step one, the obtaining of the high-frequency current of the specific frequency band including the rotor information specifically includes:
after injecting the high-frequency signal, the following can be obtained:
Figure BDA0002856503630000057
the high-frequency current response under the two-phase static coordinate system contains the rotor position information; when the electrical angle error is small enough to be approximated as Δ θ being 0, the estimated electrical angle converges to the actual electrical angle, and the high-frequency current response in the stationary two-phase coordinate system is expressed as:
Figure BDA0002856503630000061
in this embodiment, in the second step, the high-frequency current is multiplied by the demodulation signal, and the demodulation signal is passed through a low-pass filter, so as to obtain the current signal i only including the rotor position informationαl、iβlThe method specifically comprises the following steps:
the demodulation signal is a sinusoidal signal 2sin (omega) with the same frequency as the high-frequency injection voltageht)：
Figure BDA0002856503630000062
Wherein, LPF represents a low pass filter,
Figure BDA0002856503630000063
the total phase shift angle caused by the band pass filter and the low pass filter.
In this embodiment, in the third step, the all-pass filter is constructed to obtain the compensated current iαl’、iβl', specifically includes:
Figure BDA0002856503630000064
wherein, APF represents an all-pass filter,
Figure BDA0002856503630000065
for cascaded all-pass filtersThe total phase shift can be approximated if the all-pass filter design is ideal enough
Figure BDA0002856503630000066
In this embodiment, in the fourth step, the obtaining of the compensated rotor position and the compensated rotational speed by passing the compensated current through the normalized phase-locked loop specifically includes:
the input error epsilon expression of the phase-locked loop before normalization is as follows:
Figure BDA0002856503630000067
wherein the content of the first and second substances,
Figure BDA0002856503630000068
the observed position of the rotor for the output of the phase locked loop,
Figure BDA0002856503630000069
normalized input error enComprises the following steps:
Figure BDA00028565036300000610
the transfer function of the normalized phase-locked loop is:
Figure BDA00028565036300000611
wherein k isp、kiProportional term and integral term of the phase-locked loop PI regulator; the PI regulator is reasonably designed, so that the normalized phase-locked loop can accurately estimate the position and speed information of the rotor.
According to the motor rotor position obtaining method and system, the rotor angle is obtained in a high-frequency injection mode, the position of the motor rotor can be tracked in real time, and accurate position information is provided for motor driving; meanwhile, the phase deviation generated in the acquisition process is compensated, so that the accuracy and the reliability of the acquired rotor position are improved, and the performance of a control system is optimized.
Example 3
This embodiment is substantially the same as embodiment 1, and is characterized in that:
referring to fig. 1 to 9, a first embodiment of the present invention provides a motor rotor position information acquiring method, including:
fig. 1 is a flowchart of a method for acquiring position information of a motor rotor according to the present invention. Fig. 2 is a block diagram of a control structure of a permanent magnet synchronous motor based on the motor rotor position information obtaining method of the present invention.
S1: injecting a high-frequency signal into the estimated d-axis by using a high-frequency pulse vibration voltage injection method:
Figure BDA0002856503630000071
wherein the content of the first and second substances,
Figure BDA0002856503630000072
for high frequency signals injected into the estimated dq axis, UhIs the amplitude, omega, of the high-frequency signalhIs the angular frequency of the high frequency signal.
The voltage equation of the permanent magnet synchronous motor under fundamental excitation on a dq two-phase rotating coordinate system is expressed as follows:
Figure BDA0002856503630000073
in the formula ud、uqIs the voltage, i, on a dq two-phase rotating coordinate systemd、iqIs the current in dq two-phase rotating coordinate system, Ld、LqIs the inductance of dq two-phase rotating coordinate system, R is the stator resistance, omegaeFor the electrical angular velocity of the rotor, p is a differential operator,. phifAnd permanent magnet flux linkage.
When the motor is in a zero-speed or low-speed state, the angular speed of the motorDegree close to zero, hence coeRelated terms can be ignored, and when the injection frequency is far larger than the angular frequency of the motor, the inductive reactance in the high-frequency impedance of the motor is the main component, so that the influence of the resistance in the motor voltage equation can be ignored, and the permanent magnet synchronous motor injected with the high-frequency signal is equivalent to a pure inductance model.
Therefore, the following equation (2) can be equivalent to the high frequency signal injection:
Figure BDA0002856503630000074
in the formula udh、uqhFor high-frequency voltages in a synchronously rotating coordinate system, idh、iqhFor high-frequency currents in a synchronously rotating coordinate system, Ldh、LqhIs a high-frequency inductor under a synchronous rotating coordinate system.
Fig. 6 is a schematic view of an angular relationship between an actual coordinate system and an estimated coordinate system, wherein: theta is the actual electrical angle of the rotor,
Figure BDA0002856503630000081
for the estimated rotor electrical angle, Δ θ is the difference between the actual rotor electrical angle and the estimated rotor electrical angle.
According to FIG. 6, stator high frequency current signals in response under an estimated synchronous rotating coordinate system
Figure BDA0002856503630000082
The differential of (d) can be expressed as:
Figure BDA0002856503630000083
in the formula (I), the compound is shown in the specification,
Figure BDA0002856503630000084
is a rotational transformation matrix.
Estimated voltages in dq two-phase rotating coordinate system
Figure BDA0002856503630000085
Comprises the following steps:
Figure BDA0002856503630000086
converting the dq axis current in equation (3) into α β axis current can be equivalently:
Figure BDA0002856503630000087
in the formula (I), the compound is shown in the specification,
Figure BDA0002856503630000088
the equation (6) can deduce that the high-frequency current response of the permanent magnet synchronous motor under the two-phase static coordinate system can be expressed as follows:
Figure BDA0002856503630000089
a variant of formula (5) may be obtained by formula (7):
Figure BDA00028565036300000810
namely:
Figure BDA00028565036300000811
the high-frequency signal injected in formula (1) can be substituted into formula (9):
Figure BDA0002856503630000091
from equation (10), it can be seen that the high-frequency current response in the two-phase stationary coordinate system includes rotor position information. When the electrical angle error is small enough to be approximated as Δ θ being 0, the estimated electrical angle converges to the actual electrical angle, and the high-frequency current response in the stationary two-phase coordinate system is expressed as:
Figure BDA0002856503630000092
s2: multiplying the high-frequency response current by the demodulation signal, and passing through a low-pass filter to obtain a current i containing only rotor position informationαl、iβl。
Wherein the demodulation signal is a sinusoidal signal 2sin (omega) with the same frequency as the high-frequency injection voltageht)：
Figure BDA0002856503630000093
A band pass filter is required for extracting the high frequency signal in S1, and a low pass filter is required in this step, and both the band pass filter and the low pass filter bring about amplitude change and phase shift, and their amplitude-frequency characteristic curve and phase-frequency characteristic curve are shown in fig. 4 and 5. In formula (12)
Figure BDA0002856503630000094
Representing the total phase shift caused by the band pass filter and the low pass filter.
S3: compensating the phase shift caused by filtering of the filter, constructing an all-pass filter, and obtaining a compensated current iαl’、iβl’。
In order to solve the phase shift caused by the filter, the invention adopts a mode of constructing an all-pass filter to realize phase balance, taking a 4-order all-pass filter as an example:
Figure BDA0002856503630000095
wherein a is1、a2、a3、a4Is the parameter of the all-pass filter, and the all-pass filter is reasonably designed to meet the requirements of bringing to a band-pass filter and a low-pass filterIs compensated for. The invention uses a genetic algorithm to iterate and finds the optimal solution of the parameters of the all-pass filter which meets the conditions.
Genetic Algorithms (GA) are designed based on the rules of evolution of organisms in nature. The method is a calculation model of the biological evolution process for simulating natural selection and genetic mechanism of Darwinian biological evolution theory, and is a method for searching an optimal solution by simulating the natural evolution process. The algorithm converts the solving process of the problem into the processes of crossover, variation and the like of chromosome genes in the similar biological evolution by a mathematical mode and by utilizing computer simulation operation. When a complex combined optimization problem is solved, a better optimization result can be obtained faster compared with some conventional optimization algorithms. Genetic algorithms have been widely used by people in the fields of combinatorial optimization, machine learning, signal processing, adaptive control, artificial life, and the like.
Introducing parameters of the low-pass filter and the band-pass filter, calculating their phase functions, designing an all-pass filter, iteratively calculating in a genetic algorithm by taking the phase of the all-pass filter to be compensated as an objective function, and calculating a1、a2、a3、a4The optimum value of (c).
After the all-pass filter is constructed, the all-pass filter is cascaded into a system to obtain:
Figure BDA0002856503630000101
wherein, APF represents an all-pass filter,
Figure BDA0002856503630000102
for the total phase shift after cascading the all-pass filters, if the all-pass filter design is ideal enough, it can be approximated
Figure BDA0002856503630000103
S4: the compensated current is passed through a normalized phase-locked loop, which is shown in fig. 3.
The input error epsilon expression of the phase-locked loop before normalization is as follows:
Figure BDA0002856503630000104
wherein the content of the first and second substances,
Figure BDA0002856503630000105
the observed position of the rotor for the output of the phase locked loop,
Figure BDA0002856503630000106
normalizing the input error to obtain a normalized input error epsilonnComprises the following steps:
Figure BDA0002856503630000107
when in use
Figure BDA0002856503630000108
When the temperature of the water is higher than the set temperature,
Figure BDA0002856503630000109
equation (16) can be expressed as:
Figure BDA00028565036300001010
fig. 7 is an equivalent diagram of a normalized phase-locked loop, where the transfer function of the normalized phase-locked loop is:
Figure BDA00028565036300001011
wherein k isp、kiThe proportional term and the integral term of the phase-locked loop PI regulator are provided. And setting a proper bandwidth according to the speed regulation range of the system, so that the parameters of the PI regulator can be obtained, and further, the position and speed information of the rotor can be estimated.
In order to verify and explain the technical effects adopted in the method, the embodiment selects a traditional PMSM high-frequency pulse vibration voltage injection method to perform a comparison test with the method, and compares the test results by a scientific demonstration means to verify the real effect of the method.
A simulation model as shown in the structure of fig. 2 was constructed in Simulink, and the motor simulation parameter settings are shown in table 1.
Table 1: and (4) a motor parameter table.
Parameter(s) Numerical value
Stator resistance/omega 0.33
Quadrature axis inductor/H 0.0174
Direct axis inductor/H 0.0052
Permanent magnet flux linkage/Wb 0.646
Number of pole pairs 2
The high-frequency injection voltage is a cosine signal with the amplitude of 20V and the frequency of 1000Hz, the order of a band-pass filter for extracting a high-frequency current signal is 2, the upper limit cut-off frequency is 1200Hz, and the lower limit cut-off frequency is 800 Hz. The high-frequency signal for modulation is a high-frequency sinusoidal signal with the frequency of 1000Hz and the amplitude of 2V. The low pass filter cut-off frequency for extracting the modulated information about the rotor position is set to 150 Hz. The motor speed was set at 100 rpm. The simulation time is set to 0.6s, and the simulation results are shown in fig. 8 and 9, it can be seen that the maximum rotor position error observed by the conventional high-frequency pulse vibration voltage injection method is 0.0025rad, and the rotor position curve is not smooth enough, whereas the maximum rotor position error obtained by the method provided by the invention is 0.00072rad, the rotor position is more accurate, and the influence on the rotor position due to the filter phase shift is remarkably reduced.
The motor rotor position information acquisition method provided by the invention tracks the position of the motor rotor in real time, provides accurate position information for motor driving, and improves decoding precision and decoding speed; meanwhile, the phase compensation is carried out on the signals, the condition that the method is invalid due to phase lag is avoided, and the reliability of the obtained rotor position and the system robustness are improved.
Example 4
This embodiment is substantially the same as embodiment 1, and is characterized in that:
the present embodiment provides a motor rotor position information acquiring system, as shown in fig. 10, including:
and the signal acquisition module 1 is used for acquiring the three-phase current of the permanent magnet synchronous motor, converting the three-phase current into a two-phase static coordinate system, and acquiring a high-frequency response signal through a band-pass filter. This module executes the method described in step S1 in embodiment 1, and is not described herein again.
And the demodulation signal generation module 2 is used for generating sinusoidal signals with the same frequency for demodulation according to the high-frequency injection signals.
And the filtering module 3 is used for filtering high-frequency components in the signals and obtaining sine and cosine signals only containing the rotor position information. This module executes the method described in step S2 in embodiment 1, and is not described herein again.
And the phase compensation module 4 is used for performing phase compensation on the sine and cosine signals by using the constructed all-pass filter and eliminating phase offset caused by the band-pass filter and the low-pass filter. This module executes the method described in step S3 in embodiment 1, and is not described herein again.
And the rotor angle generating module 5 is used for decoding the compensated sine and cosine signals by using a phase-locked loop to generate a motor rotor decoding angle. This module executes the method described in step S4 in embodiment 1, and is not described herein again.
The motor rotor position information acquisition system provided by the invention tracks the position of the motor rotor in real time, provides accurate position information for motor driving, and improves decoding precision and decoding speed; the reliability of the obtained rotor position and the system robustness are improved.
The method and the system for acquiring the position information of the motor rotor in the embodiment of the invention comprise the following steps: injecting a high-frequency signal into the permanent magnet synchronous motor by using a high-frequency pulse vibration voltage injection method; and filtering by a band-pass filter under the two-phase static coordinate system to obtain the high-frequency current of a specific frequency band containing the rotor position information. The high-frequency response current is demodulated, and a low-pass filter is used to obtain a current containing only rotor position information. And constructing an all-pass filter, and compensating the phase offset caused by filtering of the band-pass filter and the low-pass filter to obtain a compensated current. And obtaining the position and the rotating speed of the rotor by normalizing the compensated current through a phase-locked loop. The motor rotor position information acquisition method provided by the invention tracks the position of the motor rotor in real time, provides accurate position information for motor driving, and improves decoding precision and decoding speed; meanwhile, the phase compensation is carried out on the signals, the condition that the method is invalid due to phase lag is avoided, and the reliability of the obtained rotor position and the system robustness are improved.
The embodiments of the present invention have been described with reference to the accompanying drawings, but the present invention is not limited to the embodiments, and various changes and modifications can be made according to the purpose of the invention, and any changes, modifications, substitutions, combinations or simplifications made according to the spirit and principle of the technical solution of the present invention shall be equivalent substitutions, as long as the purpose of the present invention is met, and the present invention shall fall within the protection scope of the present invention without departing from the technical principle and inventive concept of the present invention.

Claims (8)

1. A motor rotor position information acquisition method is characterized by comprising the following steps:
the method comprises the following steps: injecting a high-frequency signal to a d axis estimated by the motor by using a high-frequency pulse vibration voltage injection method; filtering by a band-pass filter under an alpha beta two-phase static coordinate system to obtain high-frequency current of a specific frequency band containing rotor information;
step two: demodulating the high-frequency current by using the demodulation signal, and passing the high-frequency current through a low-pass filter to obtain a low-frequency current signal only containing the rotor position information;
step three: constructing an all-pass filter, and compensating the phase offset caused by filtering of the filter to obtain compensated current;
step four: and obtaining the compensated rotor position and the rotation speed by the compensated current through the normalized phase-locked loop.
2. The method according to claim 1, wherein in the step one, the injecting the high frequency signal into the estimated d-axis includes:
injecting a high frequency signal into the estimated d-axis:
Figure FDA0002856503620000011
wherein the content of the first and second substances,
Figure FDA0002856503620000012
for high frequency signals injected into the estimated dq axis, UhIs the amplitude, omega, of the high-frequency signalhIs the angular frequency of the high frequency signal.
3. The method for acquiring the position information of the rotor of the motor according to claim 1, wherein in the step one, the high-frequency current response of the permanent magnet synchronous motor in the two-phase stationary coordinate system specifically includes:
the voltage equation of the permanent magnet synchronous motor under fundamental excitation on a dq two-phase rotating coordinate system can be expressed as follows:
Figure FDA0002856503620000013
in the formula ud、uqIs the voltage, i, on a dq two-phase rotating coordinate systemd、iqIs the current in dq two-phase rotating coordinate system, Ld、LqIs the inductance of dq two-phase rotating coordinate system, R is the stator resistance, omegaeFor the electrical angular velocity of the rotor, p is a differential operator,. phifA permanent magnet flux linkage;
obtaining the high-frequency current response i of the permanent magnet synchronous motor under a two-phase static coordinate system through transformationαh、iβhCan be expressed as:
Figure FDA0002856503620000014
in the formula (I), the compound is shown in the specification,
Figure FDA0002856503620000015
for the estimated voltage in the dq two-phase rotation coordinate system, Ldh、LqhIs the high-frequency inductance of the dq two-phase rotating coordinate system, theta is the actual rotor electrical angle,
Figure FDA0002856503620000016
for the estimated rotor electrical angle, Δ θ is the difference between the actual rotor electrical angle and the estimated rotor electrical angle.
4. The method according to claim 1, wherein in the step one, the obtaining the high-frequency current of the specific frequency band including the rotor information specifically includes:
after injecting the high-frequency signal, the following can be obtained:
Figure FDA0002856503620000021
the high-frequency current response under the two-phase static coordinate system contains the rotor position information; when the electrical angle error is small enough to be approximated as Δ θ being 0, the estimated electrical angle converges to the actual electrical angle, and the high-frequency current response in the stationary two-phase coordinate system is expressed as:
Figure FDA0002856503620000022
5. the method for obtaining rotor position information of electric motor according to claim 1, wherein in the second step, the high frequency current is multiplied by the demodulated signal, and the demodulated signal is passed through a low pass filter, thereby obtaining a current signal i containing only rotor position informationαl、iβlThe method specifically comprises the following steps:
the demodulation signal is a sinusoidal signal 2sin (omega) with the same frequency as the high-frequency injection voltageht)：
Figure FDA0002856503620000023
Wherein, LPF represents a low pass filter,
Figure FDA0002856503620000024
the total phase shift angle caused by the band pass filter and the low pass filter.
6. The method for obtaining rotor position information of electric motor according to claim 1, wherein in the third step, the all-pass filter is constructed to obtain the compensated current iαl'、iβl', specifically includes:
Figure FDA0002856503620000025
wherein, APF represents an all-pass filter,
Figure FDA0002856503620000026
for the total phase shift after cascading the all-pass filters, if the all-pass filter design is ideal enough, it can be approximated
Figure FDA0002856503620000027
7. The method according to claim 1, wherein in the fourth step, the step of obtaining the compensated rotor position and the rotation speed by passing the compensated current through a normalized phase-locked loop specifically includes:
the input error epsilon expression of the phase-locked loop before normalization is as follows:
Figure FDA0002856503620000028
wherein the content of the first and second substances,
Figure FDA0002856503620000031
the observed position of the rotor for the output of the phase locked loop,
Figure FDA0002856503620000032
normalized input error enComprises the following steps:
Figure FDA0002856503620000033
the transfer function g(s) of the normalized pll is:
Figure FDA0002856503620000034
wherein k isp、kiProportional term and integral term of the phase-locked loop PI regulator; the PI regulator is reasonably designed, so that the normalized phase-locked loop can accurately estimate the position and speed information of the rotor.
8. A motor rotor position information acquisition system for implementing the motor rotor position information acquisition method of claim 1, characterized by comprising the following modules:
the signal acquisition module is used for acquiring a high-frequency current signal of the permanent magnet synchronous motor in a two-phase static coordinate system;
a demodulation signal generation module for generating a demodulation signal according to the input high-frequency signal and demodulating the extracted high-frequency current signal;
the filtering module is used for filtering high-frequency signals and obtaining sine and cosine signals only containing rotor position information;
the phase compensation module is used for compensating the phase offset generated by the filter in the signal demodulation process;
and the rotor angle generating module is used for decoding the sine and cosine signals by using a phase-locked loop to generate the rotor angle of the motor.
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