CN113078866A - High-frequency injection IPMSM (intelligent power management System) strip-speed re-throwing control method based on control power supply - Google Patents

High-frequency injection IPMSM (intelligent power management System) strip-speed re-throwing control method based on control power supply Download PDF

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CN113078866A
CN113078866A CN202110286244.0A CN202110286244A CN113078866A CN 113078866 A CN113078866 A CN 113078866A CN 202110286244 A CN202110286244 A CN 202110286244A CN 113078866 A CN113078866 A CN 113078866A
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power supply
rotor position
voltage
control
permanent magnet
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CN113078866B (en
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夏长亮
李新旻
陈伟
陈炜
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Tianjin Polytechnic University
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Tianjin Polytechnic University
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/0004—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
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/183—Circuit arrangements for detecting position without separate position detecting elements using an injected high frequency signal
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/11—Determination or estimation of the rotor position or other motor parameters based on the analysis of high frequency signals
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

A high-frequency injection IPMSM band-speed re-switching control method based on control power supply comprises the following steps: in the control of a permanent magnet synchronous motor system without a position sensor, when a control circuit detects that a main power supply has an overvoltage and overcurrent fault, a DSP (digital signal processor) can send an ultrahigh frequency sinusoidal voltage injection instruction, the ultrahigh frequency sinusoidal voltage is injected into a motor winding through an injection module, an ultrahigh frequency sinusoidal voltage effective value in the motor winding is extracted through a detection module, meanwhile, an A/D (analog/digital) conversion module in the DSP finishes sampling processing of the ultrahigh frequency sinusoidal voltage effective value, and rotor position information of a motor is estimated through calculation and sampling. When the fault of the main power supply is eliminated, the DSP sends an ultrahigh frequency sine voltage interruption instruction, the ultrahigh frequency sine injection is cut off, the position information is estimated and assigned to the phase-locked loop, and the motor is controlled to recover to normal operation again. The invention can continuously detect the position information of the rotor during the power-off period of the main power supply, avoids judging the polarity of the magnetic pole of the rotor again, and the motor is quickly reset after the power supply of the main power supply is restored.

Description

High-frequency injection IPMSM (intelligent power management System) strip-speed re-throwing control method based on control power supply
Technical Field
The invention relates to a permanent magnet synchronous motor position-free control method. In particular to a control method for high-frequency injection IPMSM belt speed re-throwing based on power supply control, which is suitable for a permanent magnet synchronous motor in a low-speed area.
Background
The Interior Permanent Magnet Synchronous Motor (IPMSM) has the advantages of high power density, reliable operation and the like, is widely applied to the field of electric automobiles, and has attracted extensive attention in order to improve the reliability of the interior permanent magnet synchronous motor and improve the adaptability of the interior permanent magnet synchronous motor to severe environments.
When the built-in permanent magnet synchronous motor without the position sensor runs at a high speed, the position of the rotor is generally obtained by detecting back electromotive force; in the low-speed operation area of the motor, the amplitude of the back electromotive force is low, and based on the obvious inductance difference under different rotor positions, the rotor positions are generally obtained by injecting high-frequency detection signals and detecting the response of the high-frequency signals. The high-frequency detection signal is generally generated by switching on and off the inverter switch tube, that is, the high-frequency detection signal is supplied with energy by an inverter direct current bus (a main power supply).
In the permanent magnet synchronous motor driving system of the electric automobile, when the main power supply has faults such as overvoltage, overcurrent and the like, the protection mechanism of the battery management system cuts off the power supply of the main power supply to the motor inverter, the motor controller continues to work under the power supply of the storage battery (control power supply), and after the action or abnormal working condition of the protection relay disappears, the main power supply restores the power supply to the motor inverter. The above-mentioned power-off process lasts for tens of milliseconds generally, and the rotating speed of the permanent magnet synchronous motor will gradually decrease under the load. When the main power supply is restored to supply power, if the permanent magnet synchronous motor is in a rotating state, before the inverter works again, the accurate position of the motor rotor must be obtained; otherwise, the inverter output voltage will not match the motor back emf phase, resulting in a large inrush current.
For a permanent magnet synchronous motor with a position sensor, the position sensor is powered by a control power supply, and after the main power supply is restored, even if the motor is still in a rotating state, the inverter can immediately output a driving pulse. For a permanent magnet synchronous motor without a position sensor, in order to avoid generating an impact current, position information of a motor rotor must be detected by a position-free control method before an inverter outputs a driving pulse.
In order to obtain accurate rotor position information before the inverter outputs a driving pulse, existing control methods may be classified into two types: when the motor runs in a medium-high speed region, the back electromotive force of the motor is often utilized to estimate the position information of the rotor; when the motor operates in a low speed region, the rotor position information is often estimated by using an inductance method. The method is characterized in that under a high-speed working condition, Hideaki lura provides a zero current method, d-axis and q-axis currents are controlled to be 0 in a high-speed area, when a PI controller enters a stable state, the rotating speed and the position angle of a permanent magnet synchronous motor can be estimated through d-axis and q-axis voltages output by the controller, and an inverter must output effective vector pulses due to the fact that the d-axis and q-axis currents need to be controlled, so that the method can detect the position of a freely rotating rotor only after a main power supply is restored. Shun Taniguchi proposes a position detection method without main power supply, which injects a plurality of zero vector pulses into a motor, detects short-circuit current response generated by back electromotive force by using a current sensor, and further calculates the position and speed confidence of a rotor at the time of motor re-throwing.
Based on the position-free zone speed re-projection control in a low-speed region, the PelilinXu provides a sinusoidal voltage signal to detect the position of a rotor, the polarity of the rotor is judged through zero-sequence carrier voltage, the Rodergrong team provides square wave voltage to detect the position of the rotor, and the reliability of polarity detection is improved by controlling d-axis current to be a sinusoidal wave. In the method, the rotor position information can be normally detected only after the main power supply is restored, and when the power-off time of the main power supply is longer than a half electric cycle, the accurate rotor position can be obtained only after the obtained rotor position is subjected to polarity judgment once again, and then the motor can be controlled to operate in an accelerated manner, so that the rapidity of the re-switching process is influenced.
In the sensorless control under the low-speed working condition, the existing method cannot update the rotor position information during the power-off period of the main power supply, and when the power-off time of the main power supply is longer than a half electric cycle, polarity judgment must be carried out again after the rotor position is obtained again by using an inductance method.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a control method for high-frequency injection of power supply to IPMSM with speed and restarting based on control power supply, which can continuously detect the position of a rotor and avoid losing the polarity of the rotor during the power-off period of a main power supply, thereby improving the rapidity of restarting a motor.
The technical scheme adopted by the invention is as follows: a high-frequency injection IPMSM (intelligent power management System) belt speed re-throwing control method based on power supply control is applied to a permanent magnet synchronous motor driving system of an electric automobile and comprises the following steps:
1) in the permanent magnet synchronous motor driving system of the electric automobile, when the main power supply has overvoltage and overcurrent faults, a protection mechanism of a battery management system cuts off the power supply of the main power supply to a motor inverter, and a motor controller continues to work under the power supply of a storage battery or a control power supply;
2) after detecting that the main power supply is powered off, the control circuit simultaneously stores the rotor position information at the time of the power-off of the main power supply, distributes the ultrahigh frequency sinusoidal voltage generated by the sinusoidal generator to the primary sides of three high-frequency transformers in the injection coupling circuit through the signal selector, controls gating signals by a DSP in the control circuit, and sequentially couples the ultrahigh frequency sinusoidal voltage to the two-phase windings of the permanent magnet synchronous motors AB, BC and CA through the injection coupling circuit;
3) the method comprises the steps that ultrahigh frequency sinusoidal voltage between two phases of an AB, BC and CA of the permanent magnet synchronous motor is coupled to the input end of a second-order Butterworth filter by adopting a detection coupling circuit, the ultrahigh frequency sinusoidal voltage serving as a signal of injection frequency is screened out by the second-order Butterworth filter, the ultrahigh frequency sinusoidal voltage is converted into direct current voltage by using an effective value converter, the direct current voltage is sampled by an analog-to-digital converter of a DSP at the end moment of each control period, and then the direct current voltage U of the AB, BC and CA two-phase winding of the permanent magnet synchronous motor is obtainedAB_RMS、UBC_RMS、UCA_RMS；
4) For the obtained AB, BC and CA two-phase winding DC voltage U of the permanent magnet synchronous motorAB_RMS、UBC_RMS、UCA_RMSCarrying out ratio operation to obtain the rotor position information of the permanent magnet synchronous motor;
5) and after the fault of the main power supply is eliminated, stopping injecting the ultrahigh frequency sinusoidal voltage, assigning the obtained rotor position information of the permanent magnet synchronous motor as an initial value to a phase-locked loop in a control circuit, and controlling the motor to immediately recover to normal operation.
The control method for high-frequency injection IPMSM fast re-switching based on power supply control can continuously detect the position information of the rotor during the power failure of the main power supply, avoid re-judging the polarity of the magnetic pole of the rotor, and improve the speed of re-switching of the motor after the power supply of the main power supply is restored. Has the following beneficial effects:
(1) in the sensorless control under the low-speed working condition, the traditional control method cannot continuously update the position information of the rotor during the power-off period of a main power supply, if the power-off time is longer than a half electric cycle, the polarity judgment must be carried out again after the position of the rotor is obtained again through an inductance method, and the ultrahigh frequency signal injection method for controlling the power supply is adopted, so that the traditional high frequency signal injection method can be replaced, the position of the rotor is continuously detected, and the loss of the polarity of the rotor (obtained when the rotor is static) is avoided.
(2) The method can continuously detect the position of the rotor during the power-off period of the main power supply, and can immediately provide an initial value for the phase-locked loop of the high-frequency square wave injection method after the main power supply is restored on the basis of the existing position information, so that the phase-locked loop can be quickly converged, and the permanent magnet synchronous motor can immediately restore to normal operation.
Drawings
FIG. 1 is a schematic diagram of a permanent magnet synchronous motor driving system of an electric vehicle corresponding to the method of the present invention;
FIG. 2 is a timing diagram of UHF sinusoidal voltage injection;
fig. 3 is an equivalent electrical diagram of IPMSM at a very high frequency sinusoidal voltage frequency.
Detailed Description
The following provides a detailed description of the vertical wave buoy detection device and method based on the lead screw and the linear guide rail according to the present invention with reference to the following embodiments and accompanying drawings.
Under the working condition of low-speed operation of the motor, the power supply high-frequency injection IPMSM speed-reset control method based on the control power supply replaces a high-frequency square wave voltage injection method after the power supply is cut off, and the position of the rotor of the motor is continuously updated. The control method for high-frequency injection IPMSM belt speed re-throwing based on power supply control is applied to a driving system of a permanent magnet synchronous motor of an electric automobile. The driving system of the permanent magnet synchronous motor of the electric automobile is shown in figure 1 and comprises: the system comprises a direct current power supply (main power supply) S1, a three-phase voltage source inverter 1, a built-in permanent magnet synchronous motor IPMSM, a +/-15V switching power supply S2 (control power supply), a controller 2 and an ultrahigh frequency signal circuit. The ultrahigh frequency signal circuit comprises an ultrahigh frequency sinusoidal voltage injection module for injecting ultrahigh frequency sinusoidal voltage into the built-in permanent magnet synchronous motor T and an ultrahigh frequency sinusoidal voltage detection module for acquiring the ultrahigh frequency sinusoidal voltage from the built-in permanent magnet synchronous motor T, wherein the ultrahigh frequency sinusoidal voltage injection module is formed by sequentially connecting a sinusoidal wave generator 3, a signal selector 4 and an injection coupling circuit 5, and the ultrahigh frequency sinusoidal voltage detection module is formed by sequentially connecting a detection coupling circuit 6, a second-order Butterworth filter 7 and an effective value converter 8; the injection and detection of the ultrahigh frequency sinusoidal voltage are realized under the control of the controller.
During the normal power supply period of the main power supply, the control of the built-in permanent magnet synchronous motor without a position sensor is realized by adopting a high-frequency square wave voltage injection method. When the main power supply has overvoltage and overcurrent faults, a protection mechanism in the controller cuts off the power supply of the main power supply to the motor inverter, the motor operates in a speed reduction mode under the action of the load, and the motor controller continues to work under the control of the power supply. After the main power supply is powered off, the high-frequency square wave voltage injection method cannot update the rotor position information. The control method for high-frequency injection IPMSM strip speed re-throwing based on power supply control solves the problem that the rotor position information cannot be updated.
The invention discloses a control method for high-frequency injection IPMSM (intelligent power management system) strip speed re-throwing based on power supply control, which comprises the following steps of:
1) in the permanent magnet synchronous motor driving system of the electric automobile, when the main power supply has overvoltage and overcurrent faults, a protection mechanism of a battery management system cuts off the power supply of the main power supply to a motor inverter, and a motor controller continues to work under the power supply of a storage battery or a control power supply;
2) after detecting that the main power supply is powered off, the control circuit simultaneously stores the rotor position information at the time of the power-off of the main power supply, distributes the ultrahigh frequency sinusoidal voltage generated by the sinusoidal generator to the primary sides of three high-frequency transformers in the injection coupling circuit through the signal selector, controls gating signals by a DSP in the control circuit, and sequentially couples the ultrahigh frequency sinusoidal voltage to the two-phase windings of the permanent magnet synchronous motors AB, BC and CA through the injection coupling circuit;
the injection mode of distributing the ultrahigh frequency sinusoidal voltage generated by the sinusoidal wave generator to the primary sides of three high-frequency transformers in the injection coupling circuit through the signal selector is as follows:
(1) setting a control circuit to detect the time when the main power supply is cut off to be 0 and recording the rotor position theta of the permanent magnet synchronous motor during the power offe0And the inverter switches are controlled to be completely switched off during the power-off period of the main power supply;
(2) in three control periods T (1), T (2) and T (3), effective value of U is injected between two phases AB, BC and CAAB_IN、UBC_IN、UCA_INThe ultra-high frequency sinusoidal voltage of (4);
(3) and (5) repeating the step (2) until the main power supply is restored. Starting from the time 0, controlling the ultrahigh frequency sinusoidal voltage to alternately pass through A of the multiplexer0、A1、A2And (6) outputting the channel.
3) The method comprises the steps that ultrahigh-frequency sinusoidal voltage between two phases of AB, BC and CA of the permanent magnet synchronous motor is coupled to the input end of a second-order Butterworth filter by a detection coupling circuit, high-frequency sinusoidal voltage which is a signal of injection frequency is screened out by the second-order Butterworth filter, because an analog-to-digital converter of a DSP is difficult to sample the amplitude of sinusoidal voltage with frequency as high as 50kHz generally, an effective value converter is used for converting the high-frequency sinusoidal voltage into direct current voltage, and after the analog-to-digital converter of the DSP samples the direct current voltage at the end moment of each control period, the direct current voltage of AB, BC and CA two-phase winding of the permanent magnet synchronous motor is obtainedUAB_RMS、UBC_RMS、UCA_RMS；
The analog-to-digital converter of the DSP samples the direct current voltage at the end time of each control period, specifically samples the direct current voltage U of the two-phase winding at the end time of the control period T (1)BC_RMSAnd UCA_RMSSampling to obtain DC voltage U of two-phase winding at the end of control period T (2)AB_RMSAnd UCA_RMSSampling, and comparing the DC voltage U of the two-phase winding at the end of the control period T (3)AB_RMSAnd UBC_RMSampling is performed.
4) When the main power supply power-off is detected to be 0 moment, the position theta of the motor rotor when the main power supply power-off is detected is storede0. In the next three control periods T (1), T (2) and T (3), effective value U is injected between two phases AB, BC and CA respectivelyAB_IN、UBC_IN、UCA_INUltra high frequency sinusoidal voltage. From the control period T (4), the ultrahigh frequency sinusoidal voltage is continuously injected between the two phases AB, BC and CA in turn. The injection timing is shown in FIG. 2, i.e. from 0, the UHF sinusoidal voltage is controlled by A of the multiplexer in FIG. 10、A1、A2And (6) outputting the channel. For the obtained AB, BC and CA two-phase winding DC voltage U of the permanent magnet synchronous motorAB_RMS、UBC_RMS、UCA_RMSCarrying out ratio operation to obtain the rotor position information of the permanent magnet synchronous motor; the method specifically comprises the following steps:
(1) an equivalent circuit diagram of an interior permanent magnet synchronous motor system is shown in fig. 3. Because the frequency of the ultrahigh frequency sinusoidal voltage is far greater than the rated frequency of the motor, the back electromotive force and the resistance voltage drop of the stator can be ignored, and under the frequency of the ultrahigh frequency sinusoidal voltage, the switching tube S of the inverter can be ignored after the main power supply is powered off1～S6All are kept off, and the amplitude value of U is injected between the AB two-phase winding in a control period T (1)AB_INThe ultrahigh frequency sinusoidal voltage is formed by an A-phase inductor LAAnd a B-phase inductor LBDistribution, for ultrahigh frequency sinusoidal voltage, the C phase is a non-excitation phase at the moment, so that U is satisfiedNA＝UCA，UBN＝UBCAccording to kirchhoff's voltage law, superThe high-frequency sinusoidal voltage satisfies:
Figure BDA0002980602300000041
in the formula (1), the amplitude of the two-phase ultrahigh frequency sinusoidal line voltage is only related to the size of the winding inductance, and the size relation of the winding inductance can be obtained by comparing the sizes of the two-phase line voltages. The two formulas in the formula (1) are compared to obtain an inductance ratio k1：
Figure BDA0002980602300000042
Therefore, at the end of the control period T (1), the DC voltage U is applied to the two-phase windingBC_RMSAnd UCA_RMSSampling and calculating the DC voltage U of the two-phase windingBC_RMSAnd UCA_RMSObtaining the ratio of the two-phase inductors; similarly, at the end time of the control period T (2) and T (3), the corresponding inductance ratio k is obtained respectively2、k3：
Figure BDA0002980602300000051
Figure BDA0002980602300000052
(2) In the built-in permanent magnet synchronous motor, the inductance of the three-phase winding changes approximately in a sine rule along with the position of the rotor, and L is arrangeds0Is an inductance corresponding to the flux of the fundamental air gap, Lg2Is the amplitude of the second harmonic inductance component, and thus the mathematical relationship between the three-phase inductance and the rotor position is given by:
Figure BDA0002980602300000053
and brings in the inductance ratio k1、k2And k3And finishing to obtain:
Figure BDA0002980602300000054
changing alpha to 2 thetae+2 pi/3 and β 2 θe-2 pi/3 is respectively substituted for a second formula and a third formula in the formula (6) and is obtained by finishing:
Figure BDA0002980602300000055
wherein, thetaeIs a rotor position angle of the permanent magnet synchronous motor; alpha and beta are rotor position angles theta of permanent magnet synchronous motoreA function of (a); inductance ratio k1、k2And k3The ratio between M and M12、M23、M31；
The rotor position can be calculated by any expression in the expression (7);
(3) in practical application, in order to detect the rotor position information and reduce the sampling error of the system in real time in each control period, the invention needs to process the extracted inductance ratio as follows:
(3.1) in the control period T (4), selecting the inductance ratio k calculated at the end moment of the control period T (3)3And the inductance ratio k1And the inductance ratio k2And calculating rotor position information according to the value of the signal-to-noise ratio in the two, namely:
when k is1>k2Then use the inductance ratio k3And k1The rotor position is calculated with the result:
Figure BDA0002980602300000061
when k is2>k1Then use the inductance ratio k3And k2The rotor position is calculated with the result:
Figure BDA0002980602300000062
wherein, thetaestThe estimated position of the rotor of the permanent magnet synchronous motor; λ is any integer.
(3.2) in the control period T (4), continuing to inject the ultrahigh frequency sinusoidal voltage into the AB two-phase winding, and simultaneously updating the inductance ratio k at the end time of the control period T (4)1；
(3.2) in the control period T (5), the inductance ratio k obtained at the end of the control period T (4) is used1And k is2And k3The larger of the two ratios calculates the rotor position, i.e.:
when k is3>k2Then use the inductance ratio k3And k1Calculating the rotor position, the result being the same as equation (8);
when k is2>k3Then use the inductance ratio k1And k2The rotor position is calculated with the result:
Figure BDA0002980602300000063
(4) defining rotor position theta recorded at the moment of main power outagee0In the range of [0,2 π]The range of the arctangent function is [ - π/2, π/2]Then from the inductance ratio k1、k2And k3The rotor position is determined to be [0,2 π]Four feasible solutions exist in the interval;
because the permanent magnet synchronous motor runs at a lower rotating speed, and only 3 control cycles are passed after the main power supply is powered off, the detection of the rotor position is approximately continuous, so the estimated rotor position thetaestRotor position theta recorded at the moment of power failure of the main power supplye0The following conditions are satisfied:
Figure BDA0002980602300000064
and (3) respectively substituting four feasible solutions of the rotor position in the [0,2 pi ] interval into the formula (11) for judgment, wherein the solution meeting the condition of the formula (11) is the estimated rotor position.
5) And after the fault of the main power supply is eliminated, stopping injecting the ultrahigh frequency sinusoidal voltage, assigning the obtained rotor position information of the permanent magnet synchronous motor as an initial value to a phase-locked loop in a control circuit, and controlling the motor to immediately recover to normal operation.
The method of the invention starts from the 4 th control period T (4) after power failure, and can replace the traditional high-frequency square wave injection method to continuously update the position of the rotor. The method of the invention effectively avoids the loss of the rotor polarity caused by the power failure of the main power supply when the main power supply is in low-speed operation, and can immediately provide an initial value for the phase-locked loop of the high-frequency square wave injection method when the main power supply is recovered, so that the phase-locked loop can be quickly converged, and the quick re-switching of the permanent magnet synchronous motor can be realized.

Claims (4)

1. A high-frequency injection IPMSM (intelligent power management System) belt speed re-throwing control method based on power supply control is applied to a permanent magnet synchronous motor driving system of an electric automobile, and is characterized by comprising the following steps of:
1) in the permanent magnet synchronous motor driving system of the electric automobile, when the main power supply has overvoltage and overcurrent faults, a protection mechanism of a battery management system cuts off the power supply of the main power supply to a motor inverter, and a motor controller continues to work under the power supply of a storage battery or a control power supply;
2) after detecting that the main power supply is powered off, the control circuit simultaneously stores the rotor position information at the time of the power-off of the main power supply, distributes the ultrahigh frequency sinusoidal voltage generated by the sinusoidal generator to the primary sides of three high-frequency transformers in the injection coupling circuit through the signal selector, controls gating signals by a DSP in the control circuit, and sequentially couples the ultrahigh frequency sinusoidal voltage to the two-phase windings of the permanent magnet synchronous motors AB, BC and CA through the injection coupling circuit;
3) the ultrahigh frequency sinusoidal voltage between two phases of the permanent magnet synchronous motors AB, BC and CA is coupled to the input end of a second-order Butterworth filter by adopting a detection coupling circuit, a signal of injection frequency, namely the ultrahigh frequency sinusoidal voltage, is screened out by the second-order Butterworth filter, the ultrahigh frequency sinusoidal voltage is converted into direct current voltage by using an effective value converter, and the direct current voltage is converted by the analog-to-digital conversion of a DSP (digital signal processor)Sampling the direct current voltage by the device at the end time of each control period to obtain the direct current voltage U of the AB, BC and CA two-phase winding of the permanent magnet synchronous motorAB_RMS、UBC_RMS、UCA_RMS；
4) For the obtained AB, BC and CA two-phase winding DC voltage U of the permanent magnet synchronous motorAB_RMS、UBC_RMS、UCA_RMSCarrying out ratio operation to obtain the rotor position information of the permanent magnet synchronous motor;
5) and after the fault of the main power supply is eliminated, stopping injecting the ultrahigh frequency sinusoidal voltage, assigning the obtained rotor position information of the permanent magnet synchronous motor as an initial value to a phase-locked loop in a control circuit, and controlling the motor to immediately recover to normal operation.
2. The IPMSM band-speed re-projection control method based on control power supply high-frequency injection of claim 1, wherein the step 2) of distributing the ultra-high frequency sinusoidal voltage generated by the sinusoidal wave generator to the primary sides of the three high-frequency transformers in the injection coupling circuit through the signal selector is as follows:
(1) setting a control circuit to detect the time when the main power supply is cut off to be 0 and recording the rotor position theta of the permanent magnet synchronous motor during the power offe0And the inverter switches are controlled to be completely switched off during the power-off period of the main power supply;
(2) in three control periods T (1), T (2) and T (3), effective value of U is injected between two phases AB, BC and CAAB_IN、UBC_IN、UCA_INThe ultra-high frequency sinusoidal voltage of (4);
(3) and (5) repeating the step (2) until the main power supply is restored.
3. The IPMSM band-speed re-projection control method based on control power supply high frequency injection of claim 1, wherein the analog-to-digital converter of the DSP of step 3) samples the DC voltage at the end of each control period, specifically the two-phase winding DC voltage U at the end of the control period T (1)BC_RMSAnd UCA_RMSSampling is carried out, and two phases are wound at the end time of the control period T (2)Group DC voltage UAB_RMSAnd UCA_RMSSampling, and comparing the DC voltage U of the two-phase winding at the end of the control period T (3)AB_RMSAnd UBC_RMSampling is performed.
4. The IPMSM band speed re-projection control method based on control power supply high frequency injection of claim 1, wherein step 4) comprises:
(1) neglecting the voltage drop of the back electromotive force and the stator resistance, the inverter switch tube S after the power failure of the main power supply1～S6All are kept off, and the amplitude value of U is injected between the AB two-phase winding in a control period T (1)AB_INThe ultrahigh frequency sinusoidal voltage is formed by an A-phase inductor LAAnd a B-phase inductor LBDistribution, for ultrahigh frequency sinusoidal voltage, the C phase is a non-excitation phase at the moment, so that U is satisfiedNA＝UCA，UBN＝UBCAccording to kirchhoff's voltage law, the ultrahigh frequency sinusoidal voltage satisfies:
Figure FDA0002980602290000021
the two formulas in the formula (1) are compared to obtain an inductance ratio k1：
Figure FDA0002980602290000022
Therefore, at the end of the control period T (1), the DC voltage U is applied to the two-phase windingBC_RMSAnd UCA_RMSSampling and calculating the DC voltage U of the two-phase windingBC_RMSAnd UCA_RMSObtaining the ratio of the two-phase inductors; similarly, at the end time of the control period T (2) and T (3), the corresponding inductance ratio k is obtained respectively2、k3：
Figure FDA0002980602290000023
Figure FDA0002980602290000024
(2) Is provided with Ls0Is an inductance corresponding to the flux of the fundamental air gap, Lg2Is the amplitude of the second harmonic inductance component, and thus the mathematical relationship between the three-phase inductance and the rotor position is given by:
Figure FDA0002980602290000025
and brings in the inductance ratio k1、k2And k3And finishing to obtain:
Figure FDA0002980602290000026
changing alpha to 2 thetae+2 pi/3 and β 2 θe-2 pi/3 is respectively substituted for a second formula and a third formula in the formula (6) and is obtained by finishing:
Figure FDA0002980602290000031
wherein, thetaeIs a rotor position angle of the permanent magnet synchronous motor; alpha and beta are rotor position angles theta of permanent magnet synchronous motoreA function of (a); inductance ratio k1、k2And k3The ratio between M and M12、M23、M31；
The rotor position can be calculated by any expression in the expression (7);
(3) the extracted inductance ratio is processed as follows:
(3.1) in the control period T (4), selecting the inductance ratio k calculated at the end moment of the control period T (3)3And the inductance ratio k1And the inductance ratio k2And calculating rotor position information according to the value of the signal-to-noise ratio in the two, namely:
when k is1>k2Then use the inductance ratio k3And k1The rotor position is calculated with the result:
Figure FDA0002980602290000032
when k is2>k1Then use the inductance ratio k3And k2The rotor position is calculated with the result:
Figure FDA0002980602290000033
wherein, thetaestThe estimated position of the rotor of the permanent magnet synchronous motor; λ is any integer;
(3.2) in the control period T (4), continuing to inject the ultrahigh frequency sinusoidal voltage into the AB two-phase winding, and simultaneously updating the inductance ratio k at the end time of the control period T (4)1；
(3.2) in the control period T (5), the inductance ratio k obtained at the end of the control period T (4) is used1And k is2And k3The larger of the two ratios calculates the rotor position, i.e.:
when k is3>k2Then use the inductance ratio k3And k1Calculating the rotor position, the result being the same as equation (8);
when k is2>k3Then use the inductance ratio k1And k2The rotor position is calculated with the result:
Figure FDA0002980602290000034
(4) defining rotor position theta recorded at the moment of main power outagee0In the range of [0,2 π]The range of the arctangent function is [ - π/2, π/2]Then from the inductance ratio k1、k2And k3The rotor position is determined to be [0,2 π]All within the interval have fourA feasible solution;
estimated rotor position θestRotor position theta recorded at the moment of power failure of the main power supplye0The following conditions are satisfied:
Figure FDA0002980602290000035
and (3) respectively substituting four feasible solutions of the rotor position in the [0,2 pi ] interval into the formula (11) for judgment, wherein the solution meeting the condition of the formula (11) is the estimated rotor position.
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